Modeling of jellyfish-inspired robot enabled by dielectric elastomer
Modeling of jellyfish-inspired robot enabled by dielectric elastomer
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DOI：
10.1007/s41315-021-00192-1
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发表时间：
2021-08
影响因子：
1.7
通讯作者：
Shengbin Wang;Zheng Chen
中科院分区：
文献类型：
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作者：
Shengbin Wang;Zheng Chen
仿生机器人可以模仿水生生物的游动动作，为探索海底提供更好的伪装效果。水母类机器人是一种无人水下机器人，它具有在自然界中优化的对称结构，能够稳定游动，并以较低的功率输入产生足够的喷射推进力，可以帮助我们高效地探索海洋生态系统和复杂的水下生态环境。在本文中开发的水母机器人具有收缩肌肉样行为。它结合了一个介电弹性体（DE）薄膜驱动器与传动机构，它可以提供顺应性的推力，推动水母机器人通过水。本文介绍了新型水母机器人的设计，制造，建模和实验表征。选择一个具有特定幅度和频率的正弦信号作为输入信号，使水母钟形结构发生伸缩。从观察到的两个步骤中的一个运动周期的模拟结果是定量相似的实验输出。在第一步中开发了一个数据驱动模型来捕获振动。在第二步中，通过物理模型捕获了收缩钟并产生推力的过程。初步实验结果表明，该水母机器人能够在水下有效地进行垂直方向的游动。当幅值为5 kV、频率为2 Hz的PWM信号施加到DE执行器时，机器人的平均速度约为5 mm/s。
Bio-mimetic robots can provide better camouflage effect to explore the seabed by mimicking the swimming locomotion of aquatic creatures. Jellyfish-like robot is a type of unmanned underwater robot can help us explore marine ecosystems and complex underwater ecology efficiently since they can swim steadily with its symmetrical structure that has been optimized in nature and generate sufficient jet propulsion with low power input. The developed jellyfish robot in this paper exhibits contracting muscle-like behaviour. It combines a dielectric elastomer (DE) diaphragm actuator with a transmission mechanism, which can provide compliant thrust force to propel the jellyfish robot to transit through water. This paper presents the design, fabrication, modeling, and experimental characterization of the novel jellyfish robot. A sawtooth signal with specific amplitude and frequency is chosen as input signal that leads to expansion and shrinking of the jellyfish bell. The simulation results from the observed two steps in a cycle of movement are quantitatively similar with the experimental outputs. A data-driven model is developed to capture the vibration in the first step. The process of contracting the bell and producing thrust force is captured by a physical model in the second step. The preliminary results show the jellyfish robot can swim underwater effectively in the vertical direction. The average speed of the robot is about 5 mm/s when a sawtooth signal with 5 kV amplitude and 2 Hz frequency is applied to the DE actuator.