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Design and performance evaluation of a biomimetic microrobot for the father–son underwater intervention robotic system

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Abstract

Underwater intervention is a favorite and difficult task for AUVs. To realize the underwater manipulation for the small size spherical underwater robot SUR-II, a father–son underwater intervention robotic system (FUIRS) is proposed in our group. The FUIRS employs a novel biomimetic microrobot to realize an underwater manipulation task. This paper describes the biomimetic microrobot which is inspired by an octopus. The son robot can realize basic underwater motion, i.e. grasping motion, object detection and swimming motion. To enhance the payload, a novel buoyancy force adjustment method was proposed which can provides 11.8 mN additional buoyancy force to overcome the weight of the object in water. Finally, three underwater manipulation experiments are carried out to verify the performance of the son robot. One is carried by swimming motion and buoyancy adjustment; the other two are only carried by buoyancy adjustment. And the experimental results show that the son robot can realize the underwater manipulation of different shape and size objects successfully. The swimming motion can reduce the time cost of underwater manipulation remarkably.

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Acknowledgments

This research project is partly supported by National Natural Science Foundation of China (61375094), and Key Research Program of the Natural Science Foundation of Tianjin (13JCZDJC26200).

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Authors and Affiliations

  1. Graduate School of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, Kagawa, 761-0396, Japan

    Chunfeng Yue

  2. School of Life, Beijing Institute of Technology, Beijing, China

    Shuxiang Guo & Liwei Shi

  3. Faculty of Engineering, Kagawa University, 2217-20, Hayashi-cho, Takamatsu, Kagawa, 761-0396, Japan

    Shuxiang Guo

  4. College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun, China

    Chunfeng Yue

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  1. Chunfeng Yue
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  2. Shuxiang Guo
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  3. Liwei Shi
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Correspondence to Chunfeng Yue.

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Yue, C., Guo, S. & Shi, L. Design and performance evaluation of a biomimetic microrobot for the father–son underwater intervention robotic system. Microsyst Technol 22, 831–840 (2016). https://doi.org/10.1007/s00542-015-2471-1

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  • DOI: https://doi.org/10.1007/s00542-015-2471-1

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