Design Of Bionic Jellyfish Robot And Basic Research On Its Robotic Arm

With the continuous progress of bionic technology,varieties of bionic robots have appeared in the forefront of science,technology and people's vision.The constant demand for marine development and combat has made the underwater robots valued gradually by scientists around the world.In this paper,a bionic jellyfish robot was designed through the research of jellyfish's shape and motion mechanism,and the robotic arm is used as the driving approach to complete the underwater action of jellyfish,and its simulation analysis and control algorithm were investigated.According to the characteristic of bionic design,the morphological analysis of jellyfish organism is carried out first,selected the umbrella body as the main bionic element and four robotic arm to mimic the radial muscle,which forms a parallel mechanism system together.The URR series mechanism is designed for each arm.After doing the essential pre-calculation work,the specific structural design of small arm,large arm and matrix is carried out by using Soild Works to perfect the body design work of mechanical jellyfish.The description method and transform matrix of the end manipulator which relative to the base coordinate system are established based on the D-H coordinate system,then the mechanism kinematics is analysed.The kinematics model of the manipulator is built by encoding the 3-D jellyfish model parameters in the RTB of Matlab.The kinematics simulation is carried out after giving the basic parameters and target values,the motion parameter curves of each joint thus could be got and motion requirements are met.The mathematical model of the bionic jellyfish manipulator is analyzed based on the Lagrange equation,and the kinetic equation is obtained eventually.Then the 3-D model of the bionic jellyfish of Soild Works is processed and imported into ADAMS.Using the motion parameters which obtained by Matlab motion simulation as the driving data,the driving simulation of the manipulator is carried out to complete the positive and negative verification of the simulation analysis,and the results are largely in line with expectations.The manipulator is simplified into a 2-DOF mechanism and analyzed.After preparing the preliminary work of designing RBF neural network model and controller,the control algorithm is written in the Matlab.The results of contrast graph and control input curve show that the approximation effect of model is remarkable when the target data is given and simulated.