The high-pressure environment of deep-sea challenges the miniaturization of underwater robots due to the assembly of antihydropressure devices for protecting the electromagnetic motor. Here, inspired by the motion principle of jellyfish, a novel piezoelectric pulsed-jet actuator (PJA) was proposed as the power source. Six PJAs were arranged crosswise to form an antihydropressure miniature cross-shaped underwater robot (CSUR) with dimensions of Φ10.9 × 6.3 cm ³ . The numerical simulation method was adopted to analyze the propulsion mechanism, optimize the structure, and find the optimal frequency. A robot prototype was fabricated, and its motion performances were tested. The CSUR achieved floating, sinking, and hovering motions in the vertical direction and linear, rotary, and turning motions in the horizontal direction. The maximum linear velocity reached up to 47.8 mm/s (0.43 BL/s). The robot could move in a high-pressure environment of 10 MPa, and the average velocity deviations under different water pressures were less than 10%. Besides, the CSUR could move along an S-shaped path to navigate around obstacles. The proposed robot performed merits of miniature structure, good adaptability of a high-pressure environment, high agility, and maneuverability. It is potential for the CSUR to be applied in exploring, mapping, and sampling narrow areas of the deep sea.

中文翻译：

---

使用压电脉冲射流驱动器开发具有多运动模式的抗水压微型水下机器人

由于组装了用于保护电磁电机的抗水压装置，深海的高压环境对水下机器人的小型化提出了挑战。在这里，受水母运动原理的启发，提出了一种新型压电脉冲喷射致动器（PJA）作为动力源。6个PJA交叉排列组成抗水压微型十字型水下机器人（CSUR），尺寸为Φ10.9 × 6.3 cm ³ . 采用数值模拟方法分析推进机构，优化结构，寻找最佳频率。制作了机器人样机，并对其运动性能进行了测试。CSUR 实现了垂直方向的漂浮、下沉和悬停运动，以及水平方向的直线、旋转和转弯运动。最大线速度达到 47.8 mm/s (0.43 BL/s)。机器人可在10 MPa高压环境下运动，不同水压下的平均速度偏差小于10%。此外，CSUR 可以沿着 S 形路径移动以绕过障碍物。所提出的机器人具有微型结构、高压环境适应性好、敏捷性和机动性高等优点。