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On-line Access: 2023-07-20

Received: 2023-02-01

Revision Accepted: 2023-03-13

Crosschecked: 2023-07-20

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Citations:  Bibtex RefMan EndNote GB/T7714


Zhiguo HE


Pengcheng JIAO


Xinghong YE




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Journal of Zhejiang University SCIENCE A 2023 Vol.24 No.7 P.596-611


Underwater minirobots actuated by hybrid driving method

Author(s):  Xinghong YE, Yang YANG, Pengcheng JIAO, Zhiguo HE, Lingwei LI

Affiliation(s):  Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan 316021, China; more

Corresponding email(s):   pjiao@zju.edu.cn, hezhiguo@zju.edu.cn

Key Words:  Hybrid driving method (HDM), Underwater minirobots, Operation reliability, Transient actuation

Xinghong YE, Yang YANG, Pengcheng JIAO, Zhiguo HE, Lingwei LI. Underwater minirobots actuated by hybrid driving method[J]. Journal of Zhejiang University Science A, 2023, 24(7): 596-611.

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author="Xinghong YE, Yang YANG, Pengcheng JIAO, Zhiguo HE, Lingwei LI",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

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%T Underwater minirobots actuated by hybrid driving method
%A Xinghong YE
%A Yang YANG
%A Pengcheng JIAO
%A Zhiguo HE
%A Lingwei LI
%J Journal of Zhejiang University SCIENCE A
%V 24
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%@ 1673-565X
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2300056

T1 - Underwater minirobots actuated by hybrid driving method
A1 - Xinghong YE
A1 - Yang YANG
A1 - Pengcheng JIAO
A1 - Zhiguo HE
A1 - Lingwei LI
J0 - Journal of Zhejiang University Science A
VL - 24
IS - 7
SP - 596
EP - 611
%@ 1673-565X
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2300056

underwater minirobots have attracted significant interest due to their value in complex application scenarios. Typical underwater minirobots are driven mainly by a soft or rigid actuator. However, soft actuation is currently facing challenges, including inadequate motional control accuracy and the lack of a continuous and steady driving force, while conventional rigid actuation has limited actuation efficiency, environmental adaptability, and motional flexibility, which severely limits the accomplishment of complicated underwater tasks. In this study, we developed underwater minirobots actuated by a hybrid driving method (HDM) that combines combustion-based actuators and propeller thrusters to achieve accurate, fast, and flexible underwater locomotion performance. Underwater experiments were conducted to investigate the kinematic performance of the minirobots with respect to the motion modes of rising, drifting, and hovering. Numerical models were used to investigate the kinematic characteristics of the minirobots, and theoretical models developed to unveil the mechanical principle that governs the driving process. Satisfactory agreement was obtained from comarisons of the experimental, numerical, and theoretical results. Finally, the HDM was compared with selected hybrid driving technologies in terms of acceleration and response time. The comparison showed that the minirobots based on HDM were generally superior in transient actuation ability and reliability.




Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article


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