基于凸轮传动的仿生水母机器人设计

Design of Bionic Jellyfish Robot Based on Cam Drive

在目前已有的仿生水母机器人研究中,针对机器人在体积、应急能力、运动性能等方面的研究相对较少。为对上述方面展开进一步研究,设计一种仿生水母机器人。该仿生水母机器人使用凸轮作为动力传输的主要零件,依靠仿生触手挤压水流产生推力,提高了仿生水母机器人的运动性能。同时内部传动结构依靠单一凸轮进行传动,减小了仿生水母机器人的体积,使得机器人具备更多空间搭载附加单元。附加单元包括分离脱落结构与气囊等,可增强机器人面对复杂水下情况的应急能力。建立仿生水母机器人舒张与收缩的时间函数,输入相应设计参数后得到时间的理论计算值。最后制作仿生水母机器人样机测量其体积的大小,进行空载实验及水下实验,以验证所设计的仿生水母机器人体积更小且具备应急能力和更好的运动性能。

A novel bionic jellyfish robot was present to solve the problems that relatively little research about the motion performance,volume,emergency ability and so on for bionic jellyfish robot at present.Cam was used as the main part of power transmission,the bionic tentacles were used to squeeze water to generate thrust,so as to improve the motion performance of the bionic jellyfish robot.Simultaneously,the internal transmission structures relied on a single cam to drive,which reducing the volume of the vehicle and provide more space to carry additional units.The additional unit included separating the shedding structure and air bag,which enhanced the emergency response ability of the robot in the face of complex underwater situations.The relaxation and contraction time functions of the bionic jellyfish robot were established,and the theoretical value of time was obtained after inputting the corresponding design parameters.Finally,the bionic jellyfish robot prototype was made to measure its volume,and the no-load experiment and underwater experiment were conducted to verify that the designed bionic jellyfish robot had smaller volume,emergency ability and better motion performance.