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Marine Microrobot

Specialized CAD-designed unibody mimicking a Marine Flatworm (Pseudocerotidae family) cast in biodegradable materials and microfluidic actuation and autonomy - this untethered micro-robot is designed to navigate the rugged terrains of a seabed and narrow openings of the coral reefs. This soft seaworm is engineered for mapping the unreachable parts of the ocean without causing any harm to its ecosystem in case it's lost or eaten! ~Work in Progress~

Swim test

Seaworm-like sine wave created through TWO mechanical actuations points close to the head; mimicking fish fins

Form design

Biomimicry on CAD - Blender

Movement direction vs force

Counterbalance forces of nature while considering pressure and temperature at the seabed

Sketching the skeleton

Adding extra muscle structure to a flatworm to create the sine wave form. Central portion to account for the microfluidic microcontroller chip and also a buoyancy chamber to keep it underwater.

Mould Test 1

Weight and size distribution checks

Mould Test 2

Central body mass vs dorsal fins proportion testing

Sketching

Early sketch of proportional analysis and feasibility check considering the sizes of internal microfluidic components

Manta Ray Study

Between seaworm and manta ray, the ray is considered ideal for swimming for its aerodynamic form but for seabed navigation, the seaworm wins!

Glowing manta ray in dark ocean background

Ideation

Manta Ray early design sketches through Midjourney

Yellow and white abstract shape on black background.

Pseudobiceros hancockanus

Source : Allister Lee

Abstract spiral design on a black background.

Pseudobiceros hancockanus

Movement captured in these pictures by Lee helped in the breakdown of the mechanics

Yellow and white sea slug on black background.

Pseudobiceros hancockanus

Central spine goes all the way to the head - birfurcating into two small side fins that control the flaps

Curved yellow object with textured surface on black background.

Pseudobiceros hancockanus

Side view showing the sine wave movement

1. Black and white scientific illustration with detailed diagrams.
2. Detailed anatomical illustration with labeled sections.

Anatomy Study

Source: Pérez-García, Patricia & Herrero-Barrencua, Aketza & Noreña, Carolina & Cervera, Juan Lucas. (2020)

Black and white anatomical drawing with labeled parts.

Anatomy study

Source: Alchetron - modified from Newman & Cannon, 1994

Diagram of a flatworm with labeled anatomy.

Anatomy Study

Source: Newman & Cannon, 1994

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