气动双稳态装置驱动的仿喷水推进乌贼结构软体机器人

Water-jet Propelled Squid-Inspired Soft Robot Driven by Pneumatic Bistable Device

基于双稳态结构跳变原理,设计了一种仿喷水推进乌贼结构软体机器人。首先,制作一种双稳态驱动装置,该装置随着气体周期性通断进行跳变,带动拨水薄膜产生往复运动,使得样机内部体积变化。其次,通过调节双稳态装置的驱动频率,使样机快速喷水、缓慢吸水形成动量差,推动样机向前运动。通过试验得出双稳态驱动装置跳变产生的推进力的变化规律,并将其应用到仿生乌贼的驱动中。最后,试验分析了双稳态装置跳变过程的运动特性,建立相应的力学模型,通过ABAQUS仿真软件对驱动装置的弯曲性能进行仿真分析,验证其弯曲性能。研究结果表明,样机在双稳态装置驱动下可以达到8.7 cm/s(约0.58倍样机身长/秒)的运动速度,具有一定的负重能力,展现出了优异的游动性能。

Based on the snap-through principle of the bistable structure,a water-jet propelled squid-inspired soft robot is designed.Firstly,a bistable driving device is manufactured,which can jump as the gas periodically switches on and off,to drive a reciprocating motion of the paddle film and change the internal volume of the prototype.Secondly,the prototype can spray water quickly and absorb water slowly by adjusting the driving frequency of the bistable device,and thus a momentum difference is formed to push the prototype forward.The change law of the propulsive force generated by the jump of the bistable driving device is concluded through experiments,which is applied to the drive of squid-inspired robot.Finally,the kinematic characteristics of the snap-through process of the bistable device are analyzed by experiments,and corresponding mechanical model is established.The bending performance of the driving device is simulated and analyzed by the ABAQUS simulation software to verify its bending performance.Research results show that the prototype can reach a speed of 8.7 cm/s(0.58 body length per second)driven by the bistable device,demonstrates a certain load capacity,and exhibits excellent swimming performance.