Deformable Tubular Tail Propulsion for Low-Power Aquatic Robots
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Solution Overview
Problem
Conventional robotic systems for waterborne tasks face challenges due to rigid and dense mechanized joints and actuators, which require substantial power for actuation, encounter buoyancy issues, and are susceptible to corrosion and oxidation in salt water environments, limiting their effectiveness and durability.
Innovation Solution
A deformable, tubular wave-spring tail actuated by tensioning and controlled by tethers, combined with a central impeller and wireless control, enables low-cost, low-mass propulsion with minimal energy consumption, allowing for sensory deployment in various water depths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid and dense mechanized joints and actuators are used in waterborne robots, then structural strength and structural integrity are improved, but power consumption increases and buoyancy control becomes difficult
Solution Approach 1:
The patent replaces rigid joints and actuators with a flexible deformable tail made of soft materials. The tail can bend and deform to generate propulsion forces, eliminating the need for heavy mechanized actuators while maintaining sufficient structural integrity for waterborne operation.
Solution Approach 2:
The patent substitutes traditional mechanical actuation systems with a fluid-based propulsion system. An impeller generates fluid flow that passes through the deformable tail, using fluid pressure and flow to control tail deformation and generate thrust, thereby replacing rigid mechanical joints with a soft fluid-driven system.
2Strength
If rigid and dense mechanized joints and actuators are used in waterborne robots, then structural strength is improved, but buoyancy control deteriorates
Solution Approach 1:
The deformable tail constructed from soft, flexible materials has significantly lower density and mass compared to rigid mechanical components. This reduction in mass improves buoyancy control and allows the robot to maintain neutral or positive buoyancy more easily in water environments.
Solution Approach 2:
The patent employs composite material structures for the deformable tail, combining flexible polymers and soft materials that provide both sufficient mechanical strength for structural integrity and low density for improved buoyancy. The composite construction achieves an optimal balance between strength and weight for aquatic operation.
3Ease of operation
If conventional electronic and mechanical fixtures are used in salt water environments, then functionality is maintained, but corrosion and oxidation resistance deteriorates
Solution Approach 1:
The deformable tail and surrounding soft structural components act as protective flexible shells that isolate sensitive electronic fixtures from direct exposure to salt water. This physical barrier prevents corrosion and oxidation while maintaining full functionality of the electronic systems.
Solution Approach 2:
The patent introduces protective barriers and sealed enclosures as intermediary layers between salt water and electronic components. These intermediaries prevent direct contact between corrosive salt water and sensitive electronics, thereby enhancing reliability without compromising operational functionality.
4Use of energy by moving object
If a deformable tail with tethers is used for propulsion, then power consumption is reduced, but device complexity increases
Solution Approach 1:
The deformable tail employs dynamic deformation controlled by tensioning tethers to generate propulsion. The tail can change its shape and bending angle on the fly to direct thrust vectors, providing versatile control with simple tether tensioning mechanisms rather than complex rigid joint actuators.
Solution Approach 2:
The deformable tail serves multiple functions: it generates propulsion thrust, directs thrust vectors through deformation, and provides structural support. The same tether tensioning mechanism that controls tail shape also directly controls propulsion direction, combining multiple functions into a single integrated system that reduces overall complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The deformable aquatic robot achieves efficient propulsion and sensory gathering across diverse water environments with reduced energy drain and enhanced durability, overcoming the limitations of conventional robotic systems.
Implementation Method 1
A central impeller in a toroidal housing forms a continuous fluid channel through the housing and tubular tail
Implementation Method 2
A deformable, tubular wave-spring tail actuated by tensioning and controlled by tethers... directing the water flow for robotic propulsion
Implementation Method 3
a series of tethers draws on opposed sides of the deformable tail for directing movement to one side or the other... Actuated control of multiple tethers attached to the distal circumference of the tubular tail allows vector propulsion
Data Source
AI summary
A submersible, aquatic robot employs a deformable, tubular tail operable as a wave spring for directing movement through impelled fluid and controlled vectors based on directional orientation of the deformable tail. A central impeller in a toroidal housing forms a continuous fluid channel through the housing and tubular tail, while a series of tethers draws on opposed sides of the deformable tail for directing movement to one side or the other. The directed, tubular tail channels water for propulsion based on a vector defined by the directional tail. Wireless control of a fleet of aquatic robots can perform widespread sensory or dissemination tasks.