Modular Morphing Lattices for Large-Scale Underwater Continuum Robotic Structures Soft Robotics

In this study, we present a method to construct meter-scale deformable structures for underwater robotic applications by discretely assembling mechanical metamaterials. We address the challenge of scaling up nature-like deformable structures while remaining structurally efficient by combining rigid and compliant facets to form custom unit cells that assemble into lattices. The unit cells generate controlled local anisotropies that architect the global deformation of the robotic structure. The resulting flexibility allows better unsteady flow control that enables highly efficient propulsion and optimized force profile manipulations. We demonstrate the utility of this approach in two models. The first is a morphing beam snake-like robot that can generate thrust at specific anguilliform swimming parameters. The second is a morphing surface hydrofoil that, when compared with a rigid wing at the same angles of attack (AoAs), can increase the lift coefficient up to 0.6.

本研究提出了一种通过离散组装机械超材料（mechanical metamaterials），构建适用于水下机器人应用的米级可变形结构的方法。本研究通过结合刚性与柔性面板构建定制化单元胞（unit cells）并组装为晶格结构，解决了在保持结构高效性的同时，对仿自然可变形结构进行尺度放大的挑战。这些单元胞可产生可控的局部各向异性，以此调控机器人结构的全局变形行为。由此获得的柔性特性可实现更优异的非定常流动控制，进而支持高效推进与优化的力分布操控。本研究通过两个模型验证了该方法的应用效能：第一个模型为变形梁式蛇形机器人，可在特定鳗形游动参数下产生推力；第二个模型为变形表面水翼，与相同攻角（AoAs）下的刚性机翼相比，其升力系数最高可达0.6。