轨迹可控的微型水母机器人研制

Development of a Small Jellyfish Robot with Controllable Trajectory

为解决微型机器人在较小机身尺寸下实现高效轨迹控制的难题,设计并研制了微型仿水母机器人JRT,其由气室、重心调整机构和仿水母推进器三部分组成,尺寸仅为6.8 cm×5.3 cm,可通过重心调整机构和仿水母推进器协同控制有效实现水下轨迹可控.水下实验验证了机器人JRT沿竖直方向游泳和悬停、水平定向游泳以及水平弹射功能,并通过对机器人JRT沿竖直方向和水平方向游泳过程中的力平衡关系和运动状态数据分析提出了轨迹控制方案,测得水平定向游泳的速度可达到1.7 cm/s,轨迹偏差为0~3.4 cm,展现了微型仿水母机器人JRT较好的轨迹控制能力,可见其在水下资源勘查、环境监测等领域的应用潜力.

In order to solve the problem of efficient trajectory control of centimeter-scale robots with small size,a small jellyfish robot(JRT)is designed and developed,which is composed of an air chamber,a center of gravity adjustment device and a jellyfish-inspired thruster with a size of only 6.8 cm×5.3 cm.Its trajectory can be effectively controlled underwater through the coordination of the center of gravity adjustment device and jellyfish-inspired thruster.Underwater experiments verify the function of JRT swimming and hovering in the vertical direction,horizontal directional swimming,and horizontal ejection.By analyzing the force balance relationship and motion state data of JRT swimming in the vertical and horizontal directions,a trajectory control scheme is proposed.The speed of horizontal directional swimming can reach 1.7 cm/s,and the trajectory deviation is 0—3.4 cm,which shows that the JRT has a good trajectory control ability and is expected to be applied in underwater resource exploration,environmental monitoring,and other fields.