The Design Of Propulsion Devices And Control Method Researches Of Biomimetic Robotic Jellyfish

With the increasing renewal of technology,bionics has gradually developed and attracted more and more people's attention.By the long-term evolution,underwater creatures get the ability and characteristics to live under water for a long time.By integrating the characteristics of underwater organisms into the underwater robot through design and manufacture,the underwater robots can also have good endurance and low noise and other excellent characteristics.According to the design requirements of bionic jellyfish,this paper designed a bionic jellyfish propelled by mechanical structure.According to the movement characteristics of jellyfish,a control method of central pattern generators(CPG)suitable for bionic jellyfish was designed.In the design and production of bionic jellyfish prototype,this paper imitates the moon jellyfish.According to the shape and movement characteristics of the moon jellyfish,the shape and propulsion devices of the bionic jellyfish were designed,and appropriate materials and processing methods were selected to make the bionic jellyfish.Based on the Daniel jellyfish mechanics model,the drainage and stress conditions of the bionic jellyfish were analyzed,and the center of gravity and the center of buoyancy were calculated.At the same time,the hydrodynamic analysis of the model was carried out.According to the analysis conclusion,the optimization scheme for the bionic jellyfish model was proposed.In the aspect of bionic jellyfish motion control,this paper proposed a faster and more stable oscillator model for frequency amplitude switching.According to the characteristics of bionic jellyfish designed in this paper,an oscillator coupling method suitable for bionic jellyfish was designed.The coupled oscillator model was combined with the bionic jellyfish dynamics model to simulate the velocity displacement process of the bionic jellyfish.Then,in order to better realize the speed control of bionic jellyfish,a speed control method suitable for bionic jellyfish was proposed.Finally,the commissioning experiment and the pool experiment were carried out to verify the feasibility of the design and control methods of the bionic jellyfish in this paper.