Design and Simulation of a Bristle Propulsion Underwater Robot

Small aquatic insects such as water boatman use their leg bristle for propulsion, and their lightweight nature has important implications for the design of biomimetic underwater robots. This article designs a multi-joint bristle propulsion micro underwater robot. The kinematic and dynamic models of the robot were established, respectively. The motion characteristics and dynamic properties of the robot are studied through simulation analysis. The study provides a reference for the design and development of underwater robots.