Design And Simulation On Bionic Flagellate Swimming Robot

In this paper,a small propelled robot with screw propelling is designed according to the swimming characteristics of flagellin,and modeling and analysis are carried out.For the robot body structure,designed shape of the body,reduced vertical size,at the same time,the mechanism for steering the robot in a lateral arrangement,determines the overall length of the robot and the overall layout of the robot,selected the material of robot body,perform modal analysis and profile optimization on the shell,Static analysis of the steering mechanism,this structure has fewer drivers and controllers,greatly reduces the size of the robot,and use flexible couplings to increase the freedom of the robot.In this paper,a simulation optimization method is used to optimize the size parameters of the traveling robot's drive system,the resistance flag is used to model the robot flagellar tail drive system,and the parameters of the screw propulsion system are optimized by finite element method and genetic algorithm.,investigated the influence of driving dimension parameters on robot motion performance.The kinematics characteristics of the robot are analyzed using the virtual prototype technology,and the real environment of the robot is simulated,the result of the centroid position curve,the movement trajectory,and the driving force curve of the robot is obtained,which provides a basis for the manufacture of the physical prototype.The prototyping and experiment of the robot was carried out,the robot body shell was made by incrementally manufacturing 3D printing,the influence of the voltage and driving size parameters on the robot's movement efficiency was explored,and the spiral tail was compared using the orthogonal experiment,several parametric factors that influence the propulsion force,at the same time verify the robot's prototype can perform the action in the liquid.