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Design and Characterization of a Dual-Mode Soft Robotic Flapping Propeller With Pneumatic Stiffness Modulation
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DOI：10.1002/aisy.70471.png)
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Abstract
En 中文
Soft robotic fish typically suffer from a tradeoff between propulsive efficiency and maneuvering flexibility due to fixed body stiffness. To address this limitation, this article proposes a novel soft robotic flapping propeller capable of active stiffness modulation and dual-mode locomotion. The system features a hybrid actuation strategy: a pneumatic origami-inspired accordion structure for stiffness regulation and axial deformation, coupled with a cable-driven mechanism for lateral flapping. This unique architecture enables two distinct swimming modes: (1) a body and/or caudal Fin (BCF) mode with tunable stiffness to optimize propulsive transmission, and (2) an earthworm-inspired wriggling mode for navigation in confined spaces, facilitated by passive directional flapping foils. Extensive underwater experiments characterize the kinematic relationship between actuation and end-effector response. Crucially, thrust tests reveal a nonlinear coupling between stiffness and flapping frequency. An optimal operating domain (15 kPa stiffness at 1.2 Hz) was identified, yielding a maximum net thrust of 741.2 mN while maintaining a low coefficient of variation (CV = 0.8), thereby balancing high propulsion with output stability.
Keywords:
cable-driven
dual-mode
earthworm-inspired wriggling locomotion
pneumatic
stiffness modulation
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