Mathematical Models of Scallop Locomotion and Optimal Design of Scallop-Inspired Robot  

作　　者：Yumo Wang Jiajun Xu Jiazu Zhou Xiayu Tao Ziwei Yin Tianyu Gao Wentao Sheng 

机构地区：[1]School of Intelligent Manufacturing,Nanjing University of Science and Technology,Nanjing,210094,China [2]College of Mechanical and Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing,210016,China [3]Future Cities Lab Global,Singapore-ETH Centre,Singapore,Singapore [4]National Synchrotron Radiation Laboratory,University of Science and Technology of China,Hefei,230029,China

出　　处：《Journal of Bionic Engineering》2025年第2期805-821,共17页仿生工程学报(英文版)

基　　金：supported by the Fundamental Research Funds for the Central Universities(No.30922010719).

摘　　要：Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.

关 键 词：Locomotion Models Scallop Robot Swimming Speed Experimental Validation Optimization Design 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]