Hydrodynamic Modelling and Motion Characteristics of Flexible Swimming Limbs for Asymmetric Swinging Underwater Soft Robots

In this paper, an asymmetrical swinging bionic mantis shrimp underwater soft robot based on dielectric elastomers is presented. This robot can be driven through water by swinging swimming limbs. Flexible swimming limbs with different geometries are designed, and computational fluid dynamics (CFD) simulations are utilized to explore the optimal motion efficiency and adaptive geometry. Furthermore, hydrodynamic models of underwater soft robots with different structures, rotational speeds, and flexibility angles are constructed to accurately represent the dynamic characteristics of different structures and deformation angles under sudden excitation. Additionally, the accuracy of the hydrodynamic model of the underwater soft robot is verified through force measurements, while the validity of the numerical simulations is demonstrated through particle image velocimetry (PIV) field experiments, further confirming the effectiveness of the robot’s capabilities.