Model-Based Design Optimization of Underwater Flagellate Propellers

A new family of soft underwater propellers has been recently presented. Mimicking the swimming strategy of bacterial flagella, these modules passively adapt to the surrounding fluid to provide a propulsive thrust. In the present paper we aim at further investigating the behaviour of this device and we address the optimization of its design towards improved swimming capabilities. This process is allowed by an accurate, yet simple, theoretical model which is able to precisely describe the robot's behaviour. The optimal prototype is fabricated, employing a composite material that is ad-hoc designed to provide the optimal stiffness. Finally, a simple robotic prototype is built and tested to validate the improved performances.