Deformation Characteristics of Three-Dimensional Spiral Soft Actuator Driven by Water Hydraulics for Underwater Manipulator

The emergence of bionic soft robots has led to an increased demand for bionic soft actuating ends. In this study, a three-dimensional spiral water hydraulic soft actuator (3D-SWHSA), inspired by the winding action of an elephant's trunk, is proposed to provide a more targeted soft actuator catching method. The 3D-SWHSA is composed of multiple bending and twisting units (BATUs), which can produce winding deformation after being pressed. By using the principles of virtual work and integrating the Yeoh 3rd order model, a predictive model for winding was established to investigate the bending and twisting characteristics of BATUs with varying structural parameters through finite element simulation. Following the selection of an optimal set of structural parameters for the 3D-SWHSA, its bending and deformation capabilities were simulated using finite element analysis and subsequently validated experimentally. To validate its flexibility, adaptability, and biocompatibility, successful catching experiments were conducted in both air and underwater environments. Underwater organisms, including organisms with soft appearance such as starfish and sea cucumbers, and organisms with hard shell, such as sea snails and crabs, can also be caught harmlessly. In cases where a single 3D-SWHSA is insufficient for capturing objects with unstable centers of gravity or when the capture range is exceeded, the double 3D-SWHSAs can be utilized for cooperative winding. This study affirms the great potential of 3D-SWHSA in diverse marine applications, including but not limited to marine exploration, fishing, and operations.