快速液动网络仿水母软体机器人的结构优化  

Structural Optimization of a Soft Jellyfish-like Robot with Fast Liquid Network

作　　者：于添 吴校生[1] YU Tian;WU Xiaosheng(National Key Laboratory of Science and Technology on Micro/Nano Fabrication,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海交通大学微米/纳米加工技术国家级重点实验室,上海200240

出　　处：《数字海洋与水下攻防》2023年第4期496-503,共8页Digital Ocean & Underwater Warfare

基　　金：上海市科委专业技术服务平台资助“微光机电系统制造专业技术服务”(19DZ2291103)。

摘　　要：水母在海洋内分布深度范围大,经过数亿年的进化,它具备极强的环境适应性,提出了一种新型仿水母软体机器人结构。为避免以往仿水母机器人的缺陷,采用快速液动网络(Fast Liquid Network,简称FLN)构建驱动结构,采用电推杆来实现仿水母软体机器人的外伞摆动。新的设计具有全封闭结构,适合独立自主和大水深环境下运行。构建了仿水母软体机器人的总体模型,基于Yeoh超弹性材料本构模型对机器人进行有限元仿真优化,获得了优化的结构参数(腔室和驱动器的尺寸)。采用精密加工模具实现了软体结构的制作,采用弹簧钢片对软体结构进行刚度加强,通过各部件的联接实现了模型的系统集成。通过对原型机的测试,实现了仿水母机器人水下自主上浮运动,验证了本设计方案的可行性。Jellyfishes are distributed in a wide range of depths in the ocean.After hundreds of millions of years of evolution,they have strong environmental adaptability.In this paper,a structure of soft jellyfish-like robot is proposed.Fast liquid network(FLN)is used to construct the actuator of the robot,and an electric push rod is used to realize the outside umbrella swing of the soft jellyfish-like robot.In this paper.The general structure model of the soft jellyfish-like robot is proposed.The new design has a fully enclosed structure.It is suitable for independent operation and operation in deep water environment.The structural parameters(dimensions of the chamber and the actuator)of the robot are optimized based on Yeoh model.The precision machining die is used to realize the fabrication of the soft structure.The steel sheet spring is used to strengthen the structure.The system integration of the model is realized through the connection of each component.The autonomous underwater floating motion of the soft jellyfish-like robot is realized in the experiment.This proves that the scheme is feasible.

关 键 词：仿水母 软体机器人 快速流动网络 参数优化 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]