Design And Implementation Of Bionic Jellyfish Based On Shape Memory Alloy

As people explore the ocean deeply,underwater unmanned submersible system is taken more seriously,after several years of rapid development,the traditional underwater unmanned submarine system is able to finish underwater missions.However,the traditional underwater unmanned submersible manufacturing cost is very high,the design of a submarine unmanned submarine cycle is too long;the underwater unmanned submersible is equipped with propeller,which could make a lot of noise.This is fatal undoubtedly for some reconnaissance missions;the current energy is the use of battery-powered,for the specification equipment of underwater unmanned submarine,the problem of life is also obvious,these problems make the development of underwater unmanned submarine more challenges.Aiming at the above problems in the traditional underwater unmanned submersible system,a bionic jellyfish prototype is designed based on the shape memory alloy and bionics.The memory alloy can be deformed under the change of temperature.This characteristic of the memory alloy can be used to mimic the movement of the jellyfish and make the structure simple.Based on these advantages,the structure of the bionic jellyfish is designed,including the size of the driving part and the static bionic size parameter.By calculating the center of gravity and center of buoyancy jellyfish,we adjust the center position of gravity and buoyancy so that it can be suspended in water;the motion model of the jellyfish based on the motion analysis;use ADAMS to simulate the angular velocity and acceleration in the process of memory alloy spring driven;according to the Daniel propulsion model,the velocity and propulsion of the bionic jellyfish are simulated and analyzed;we use CFD technology to analyze the bionic jellyfish in the process of the leg swinging,getting the change trends of flow field and pressure;the control strategy is designed according to the motion characteristics of the bionic jellyfish;the driving circuit of the micro-controllers based on PWM control is designed and the experimental platform is built.The result is analyzed by the bionic jellyfish experiment.As a result,we verify the feasibility of the bionic jellyfish by experiment.