快速流动网络仿水母软体机器人的结构优化

Structural optimization of A soft jellyfish-like robot with fast pneumatic networks

摘要:

水母在海洋内分布深度范围大,经过数亿年的进化,它具备极强的环境适应性。本文以水母为原型,提出了一种仿水母软体机器人结构。机器人采用快速流动网络(FPN)构建驱动结构,采用电推杆来实现仿水母软体机器人的外伞摆动。论文构建了仿水母软体机器人的总体模型,采用有限元法对机器人的结构参数(腔室和驱动器的尺寸)进行优化设计。采用精密加工模具实现了软体结构的制作,采用弹簧钢片对软体结构进行刚度加强,通过各部件的联接实现了模型的系统集成。通过对原型机的测试,验证了仿水母软体机器人的上浮驱动可行性。

关键词:仿水母;软体机器人;快速流动网络;参数优化

Abstract:

Jellyfishes are distributed in a wide range of depths in the ocean. After hundreds of millions of years of evolution, they have strong environmental adaptability. In this paper, a structure of soft jellyfish-like robot is proposed. Fast pneumatic network (FPN) is used to construct the actuator of the robot, and an electric push rod is used to realize the outside umbrella swing of the soft jellyfish-like robot. In this paper. The general structure model of the soft jellyfish-like robot is proposed. The structural parameters (dimensions of the chamber and actuator) of the robot are optimized using the finite element method. The precision machining die is used to realize the fabrication of the soft structure. The steel sheet spring is used to strengthen the structure. The system integration of the model is realized through the connection of each component. The rising actuation of the soft jellyfish-like robot is verified in the experiment.

Key words:jellyfish-like;soft robot;fast pneumatic network;parameters optimization