Underwater reconfigurable robot based on modular piezoelectric jet unit

Underwater organisms have important research value in the fields of biology and medicine, but the existing underwater vehicles are not competent for the task of capturing underwater organisms. Therefore, we design a reconfigurable Transformers robot, which uses bait with anesthetics to trap underwater organisms. Robot has the hunting form of trapping organisms and the submerged form of transporting organisms. Transformers robot is designed by six modular piezoelectric jet driving units (MPJDU) connected by hinges, and the required form can be realized through cooperative driving of multi-module. The design of the MPJDU is inspired by the jet propulsion of marine organisms, which has the advantages of miniature structure and high-pressure resistance. In order to realize efficient propulsion of the MPJDU, its vibration characteristics and propulsion principle are studied by simulation methods. Relevant experiments are carried out to test its motion performance and verify the correctness of the simulation results. The experimental results show that the linear speed of the MPJDU reaches 9.14 cm/s, and it can move flexibly under 20 MPa high pressure environment. The robot in submerged form completed a variety of movements, which proves that Transformers robot is an excellent performer of underwater organisms capture missions.