원문정보
초록
영어
In this paper, a common marine life - octopus is imitated. Based on the research of its tentacles hydrostatic skeletal muscle structure, the propulsive function of the tentacles is strengthened, and a bionic tentacles propulsor driven by shape memory alloy wires is developed. The action experiments show that the propulsor has a simple structure, large flexible deformation and silent action. Using LAEBT to compute tentacle’s average propulsion force, the outcome shows that the tentacle can provide sufficient power. Based on this, a multiple-bionic tentacle propulsor underwater robot is developed. The robot is 230 mm in length, 110 mm in diameter and 590 g in weight. Having discussed the strategy of its motion, a proper one is selected and has been tested. The result of research shows that the robot has reliable structure and seal. It is well friendly to the environment and good at motility. The peak speed is about 115 mm/s while linearly swimming and it can turn at speed of18°/s. This prototype provides a new view on underwater robot developing.
목차
1. Introduction
2. Analysis of Octopus’ Tentacle Skeletal Muscle and Design of Bionic Tentacle Propulsor
3. Design of Multiple Tentacles Underwater Robot
3.1. Design on Structure and CFD Simulation
3.2. Structure and Control system
4. Action Experiments
4.1. Testing Experiment on Tentacle Propulsor’s Motion
4.2 Linar swimming experiment
4.3 Turning Experiment
5. Conclusion
References