Motion Analysis of a Bacterial Flagella-Inspired Robot in Underwater Planetary Exploration

Abstract

This study presents the conceptual design of an underwater robot intended to explore the subsurface oceans of icy moons such as Europa, Titan, and Enceladus. Inspired by the motion of monotrichous bacterial flagella, the robot uses a biomimetic propulsion system for enhanced maneuverability in extreme environments. Antarctic Bottom Water (AABW) serves as an Earth-based analog for these extraterrestrial oceans, guiding the robot's design through its physical properties. The propulsion system, driven by a waterproof brushless motor and a flexible silicone-based helical flagellum, is analyzed using MATLAB and COMSOL Multiphysics simulations. These studies evaluate fluid dynamics, displacement, and efficiency, comparing configurations with and without an elliptical body. Results inform the optimization of the flagellum’s design and lay the groundwork for future 3D modeling and experimental validation. Overall, the research advances resilient, adaptive robotic systems for exploring ocean worlds beyond Earth through an integrated computational and biomimetic approach.