A dielectric elastomer underwater vehicle with dual modes of swimming motion and sound generation

Inspired by the jetting mechanism of squid, this paper designs an underwater vehicle based on conical dielectric elastomer (DE) actuators. Based on the overall structural design of DE underwater vehicle, the manufacturing and assembly of the skeleton structure is achieved via light-curing 3D printing technology, and the fabrication of conical DE actuator is completed by using the layering process. Effect of several parameters of conical DE actuator is investigated to ensure the optimal electromechanical performance. On this basis, the sound generation properties of conical DE actuator are discussed. By adjusting the multi-component voltage (a combination of bias voltage and excitation voltage), the conical DE actuator can generate a sound with a frequency of 2500 Hz and a sound pressure level (SPL) of 84 dB while producing the pumping motion. Finally, the overall structure of DE underwater vehicle is assembled, and the dual modes of swimming motion and sound generation are explored. The experimental results demonstrate that the DE underwater vehicle can generate a SPL of 143.51 dB while moving at a velocity of 0.306 BL s⁻¹, and can make a 90° turn within 10 S.