1.西安交通大学机械工程学院;2.西安交通大学 机械工程学院
中国大学生创新创业训练项目
1.School of Mechanical Engineering, Xi'2.'3.an Jiaotong University
College Students’ innovation and entrepreneurship training program
水母以其高效的运动性能和灵活的感知功能,近年来在仿生学领域受到了广泛关注,可广泛应用于海洋探测和环境治理等领域。基于仿生学原理,从模拟水母的运动特性和趋光功能的角度出发,提出了一款双驱动的仿生水母,通过基于柔性机构的仿生鳍条实现水中扑动推进,通过基于管状折纸机构实现水下喷射推进,通过双驱动结构的协同驱动设计,有效提升水母推进效率。实验结果表明,双驱动模式下的仿生水母推进效率更高,摆动推进和喷射推进的最大推进力之比约为2.7:1,最大运行速度可达100mm/s,能够实现灵活的水下全向运动。模拟水母趋光特性,结合机器学习算法构建趋光控制系统,能够实现水下的趋光运动。
Jellyfish has attracted extensive attention in the field of bionics in recent years due to its efficient motion performance and flexible sensory function. It can be widely used in marine exploration and environmental governance and other fields. Based on the principles of bionics, a dual-drive bionic jellyfish is developed from the perspective of simulating the movement characteristics and phototaxis motion of jellyfish, with flutter propulsion from bionic fin rays based on flexible structure and jet propulsion from tubular origami mechanism. The propulsion efficiency of jellyfish is effectively improved through the coordinated drive design of the double drive structure. The experimental results show that the bionic jellyfish propulsion efficiency is higher under the double drive mode. The propulsion force ratio between oscillating propulsion and jet propulsion is about 2.7:1, and the maximum operating speed can reach 100mm/s. It can realize flexible underwater omnidirectional movement. Simulating the phototaxis characteristics of jellyfish, a phototaxis control system combined with machine learning algorithms can realize underwater phototaxis movement.
