Flagellate Underwater Robotics at Macroscale: Design, Modeling, and Characterization

Prokaryotic flagellum is considered as the only known example of a biological “wheel,” system capable converting action rotatory actuator into continuous propulsive force. For this reason, flagella are an interesting case study in soft robotics and they represent appealing source inspiration for design underwater robots. A great number flagellum-inspired devices exists, but these all characterized by size ranging micrometer scale mostly realized with rigid materials. Here, we present development novel generation macroscale propellers that draw their from flagellated organisms. Through simple actuation exploiting capability material to store energy when interacting surrounding fluid, attain different helical shapes generate thrust. theoretical model presented, accurately describing predicting kinematic capabilities proposed solution. Different experimental trials presented validate accuracy investigate performance design. Finally, robot prototype propelled four flagellar modules presented.