An underwater robot mimicking jet propulsion inspired by feather sea star

Abstract

This paper introduces the design and modelling of an underwater robot, mimicking the prototype of Antedon Petasus (Feather sea star). The design includes springs and cables driven by servomotors for the tension control of springs. In underwater environment, soft skeleton mechanisms are needed for the proper interaction. This can be achieved by using soft robotic links like cable driven springs using servomotors in various propulsion patterns. The cable-driven structure is a kind of parallel mechanism transmitting forces and motions by cables which are connected to the motors mounted on a fixed base. Solidworks is used to model it. The software, Ansys Fluent is used for its analysis in underwater environment and for the estimation of drag co-efficient.