Dynamic design,simulation,and experiment on a bioinspired jellyfish driven by soft pipes conveying fluid
A new bioinspired jellyfish robot propelled by the deformation of soft pipes conveying fluid is proposed in the present study.The initially curved soft pipe conveying fluid can result in large deformations.At zero internal flow velocity,the soft pipe returns to its initial configuration.Actuation can be achieved utilizing the periodic deformation and recovery of the soft pipe.Based on the absolute nodal coordinate formulation(ANCF)method,a nonlinear dynamic theoretical model of the soft pipe was established.The optimal initial configuration of the soft pipe was determined through dynamic analysis.Subsequently,soft appendages were fabricated according to the initial curved-pipe configuration.Deformation and recovery experiments were performed underwater at different internal flow velocities,and the results were compared with those obtained using the theoretical model.In addition,a coupling simulation method was developed for structural deformation and fluid dynamics.The influence of the internal flow velocity and number of appendages on the fluid force acting on the appendages was investigated.Results show that the larger the internal flow velocity,the greater the appendage deformation and the smaller the appendage swing frequency,but the maximum fluid force increased gradually.For the same internal flow velocity,the number of appendages does not affect the maximum fluid force of a single appendage.Finally,head and tee connectors were fabricated using 3D printing,which,together with the soft appendages,formed a waterproof jellyfish robot.Further experimental research on appendage swing and propulsion was performed underwater.Experimental results showed that with increasing voltage(internal velocity),appendage deformation and propulsion speed increased.Importantly,the propulsion speed could be enhanced by 28％for the robot with soft appendages compared to that without appendages in the pure jet mode.This research provides a new strategy for designing the actuation mode for an underwater robot.
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维普
