Underwater Glider Actuated by Bioinspired Soft Swim Bladder

Underwater gliders are recognized as highly efficient tools for marine exploration due to their low power consumption. The buoyancy driven system plays a critical role in the design of underwater gliders. Traditionally, hydraulic systems using motors, pumps, and valves were commonly employed in underwater glider designs, resulting in high energy consumption and noise levels. This research introduces an innovative approach by utilizing a bioinspired soft swim bladder (BSSB) to actuate the underwater glider. The BSSB offers advantages such as reduced power consumption and noise, making it particularly suitable for sensitive underwater environments. The BSSB is developed based on an electro-pneumatic dielectric elastomer actuator with a spherical crown shape. Experimental investigations were conducted to analyze the relationship between volume change and loading path. The volume change achieved was up to 4.2 mL, representing a 300% increase due to the adjustment of the loading path. Subsequently, an untethered, self-powered underwater glider prototype was developed and tested to verify its underwater gliding capabilities. This study highlights the potential of utilizing a BSSB for propelling underwater gliders. Future research will focus on the control mechanisms for the underwater glider actuated by the BSSB and strategies to enhance its operational performance.