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International Standard Serial Number:
ISSN 1001-4551
Sponsor:
Zhejiang University;
Zhejiang Machinery and Electrical Group
Edited by:
Editorial of Journal of Mechanical & Electrical Engineering
Chief Editor:
ZHAO Qun
Vice Chief Editor:
TANG ren-zhong,
LUO Xiang-yang
Tel:
86-571-87041360,87239525
Fax:
86-571-87239571
Add:
No.9 Gaoguannong,Daxue Road,Hangzhou,China
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310009
E-mail:
meem_contribute@163.com
Abstract: Aiming at the demand for good concealment of underwater detection robots, a biomimetic jellyfish robot was designed. Firstly, biomimetic design of the jellyfish robot was carried out, the functional design requirements of the robot was determined through biometric feature extraction and functional coupling, and a 3D model was designed based on the mechanism schematic diagram. Secondly, kinematic solution on the multi-bar propulsion mechanism was performed, two closed-loop solving equations was obtained, and a size design case was provided based on this. Then, rigid-flexible coupling analysis and modal analysis were conducted with ANSYS software, the strength and stiffness of key structures were verified, the low-order modal frequencies and vibration mode of the structure were obtained and provide a basis for the selection of acoustic fish driving devices. Finally, according to the design model, a physical prototype was made and underwater debugging was carried out, the experimental parameters were obtained and the functionality of the robot was verified. The research results indicate that the maximum equivalent stress of the multi-bar propulsion mechanism during motion is about 4.92MPa, and the maximum deformation is about 3.89mm, the structure meets the requirements of strength and stiffness. Through the production and testing of physical prototype, the underwater swimming and steering functions of biomimetic jellyfish robot are achieved, and the feasibility of the scheme is preliminarily verified. The linear motion speed of the robot is approximately 58.3mm/s and the turning speed is approximately 22.5°/s under the initial setting speed of the main drivemotor.
Key words: underwater detection robots; multi-bar propulsion mechanism; kinematic solution; rigid-flexible coupling analysis; feature extraction; functional coupling
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