Biomimetic compliant untethered robots find a plethora of applications in biomedical engineering, microfluidics, soft robotics, and deep-sea exploration. Flexible miniature robots in the form of magnetically actuated compliant swimmers are increasingly used for targeted drug delivery, robotic surgery, laparoscopy, and microfluidic device design. These applications require an in-depth understanding of the nonlinear large deformation structural mechanics, non-invasive remote-control and untethered actuation mechanisms, and associated fluid-structure interactions that arise between a soft smart robot and its surrounding fluid. The present work obtains numerical solutions for the temporal evolution of structural and flow variables using a fictitious domain method that employs a robust multi-physics computational model involving both fluid-structure interaction and magneto-elasto-dynamics. The magnetically-actuated soft robotic swimmer (jellyfishbot) is inspired by the most efficient aquatic swimmer, the jellyfish. The swimming kinematics and bi-directional locomotion are obtained for different waveforms and gradients of the external magnetic actuation. The breaking of temporal symmetry and its relative dominance is discussed as well.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Bi-directional locomotion of a magnetically-actuated jellyfish-inspired soft robot


    Beteiligte:

    Erscheinungsdatum :

    2021-06-30


    Anmerkungen:

    Pramanik , R , Onck , P R & Verstappen , R W C P 2021 , Bi-directional locomotion of a magnetically-actuated jellyfish-inspired soft robot . in Advances in Robotics, AIR 2021 - 5th International Conference of the Robotics Society . , 3478591 , ACM International Conference Proceeding Series , Association for Computing Machinery , pp. 1-5 , 5th International Conference of the Robotics Society on Advances in Robotics, AIR 2021 , Kanpur , India , 30/06/2021 . https://doi.org/10.1145/3478586.3478591



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    A jellyfish-inspired jet propulsion robot actuated by an iris mechanism

    Marut, Kenneth / Stewart, Colin / Michael, Tyler et al. | Tema Archiv | 2013


    Omni-directional steering bionic jellyfish robot

    ZHANG TAO / ZHENG XUEQIN / WANG WEI et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Bio‐inspired Robot Locomotion

    Buschmann, Thomas / Trimmer, Barry | Wiley | 2017


    A Magnetically-Actuated Coiling Soft Robot With Variable Stiffness

    Lloyd, Peter / Thomas, Theodosia Lourdes / Venkiteswaran, Venkatasubramanian Kalpathy et al. | BASE | 2023

    Freier Zugriff

    Locomotion modeling of an actinomorphic soft robot actuated by SMA springs

    Jin, Hu / Dong, Erbao / Mao, Shixin et al. | IEEE | 2014