Thrust force characterization of free-swimming soft robotic jellyfish
Thrust force characterization of free-swimming soft robotic jellyfish
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DOI：
10.1088/1748-3190/aadcb3
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发表时间：
2018-11-01
影响因子：
3.4
通讯作者：
Engeberg, Erik D.
中科院分区：
文献类型：
--
作者：
Frame, Jennifer;Lopez, Nick;Engeberg, Erik D.
采用八个气动网络触须作动器，从触须中心呈放射状延伸，制造了五个独特的软体水母机器人。这些水母机器人能够不受束缚地在海洋中自由游动，从一边转向另一边，还能游过比水母名义直径更窄的孔。这五个水母机器人的身体和触须执行器的邵氏硬度组成各不相同。对这五种水母机器人进行了三因素研究，以确定致动器材料邵氏硬度、致动频率和触须行程致动幅度对测得的推力的影响。研究发现，这三个因素对平均推力产生都有显著影响，在半冲程驱动振幅为0.8 Hz时，平均推力产生达到峰值。
Five unique soft robotic jellyfish were manufactured with eight pneumatic network tentacle actuators extending radially from their centers. These jellyfish robots were able to freely swim untethered in the ocean, to steer from side to side, and to swim through orifices more narrow than the nominal diameter of the jellyfish. Each of the five jellyfish robots were manufactured with a different composition of body and tentacle actuator Shore hardness. A three-factor study was performed with these five jellyfish robots to determine the impact that actuator material Shore hardness, actuation frequency, and tentacle stroke actuation amplitude had upon the measured thrust force. It was found that all three of these factors significantly impacted mean thrust force generation, which peaked with a half-stroke actuation amplitude at a frequency of 0.8 Hz.