Research On The Propulsion Mechanism Of A Noval Biomimetic Jellyfish

As human’s exploration and development of ocean speeds up gradually, theunmanned underwater transfer system obtains fast development. Thereinto,machines based on fish and other aquatic organisms which motion with bionicpropulsion system are receiving more and more attention. Compared to thetraditional wave swimming fish, jellyfish has better flexibility, environmentaladaptability and concealment of the target motion, and also has the mechanismwith efficient utilization of the flow field energy, is suitable for underwaterprototype machine of ocean dives, observation, target detection and weapontransportation. Propulsion mechanism about jellyfish actives in recent years, theresearches have developed a variety of jellyfish robots with different drivingforms. But current studies mainly centralize within centimeter scale, mediumsized jellyfish in1m diameter is fewer researched. Due to the good prospect inengineering application of medium sized jellyfish, this paper will research on thepropulsion mechanism through the theoretical analysis and underwaterexperiment.With chardonnay jellyfish as the research object, this paper analysed themovement mechanism of chardonnay jellyfish, described the basic movement.Considering jellyfish propulsive movement, established the dynamic model ofsystolic and diastolic of bell-shaped structure, completed the dynamics analysis,analyzed the force under the underwater propulsion of jellyfish, and the method ofdecreasing the drag of propulsion.In bionics research, based on the analysis of the dynamics, jellyfish, designedthe virtual prototype machine. The virtual prototype uses a servo motor to drivethe six auxiliary tentacles, the six auxiliary antenna drive silicone skin cover withreciprocating swing, thus promote the bell-shaped structure similar to the jellyfishachieving the flexible silicone systolic and diastolic motion. Simulation softwareADAMS was applied to simplified bell-shaped structure, and to complete thekinematics analysis, dynamics simulation, force situation analysis of machinejellyfish tentacles in the water, and to provide theoretical basis for the experiment.Designed the control system, based on the analysis of dynamics cleared thebasic movement to implement. Machined and assemblied the bionic jellyfishexperimental prototype, debugged and promoted the performance of the bionicmachine jellyfish prototype experiments, Got the machine jellyfish underwatermovement situation based on the experimental analysis. Results of theexperiment were analyzed, and the experimental datas were obtained.