Instantaneous Force Generation Mechanism Based on the Striking Motion of Mantis Shrimp—Design and Control Method of Cavitation by Simulation and Experiment

摘要

In this letter, we describe simulations and experiments on the occurrence of cavitation with an instantaneous force generation mechanism based on the motion of the mantis shrimp. This study aims to strengthen the striking force of the developed mechanism by realizing the mechanism of cavitation occurrence. This letter presents a motion and cavitation model for the developed mechanism and provides the results of the simulations and experiments considering the occurrence of cavitation. In previous studies, mantis shrimp have been shown to have two consecutive impacts on a hard object with cavitation in water. However, no robot can imitate the striking mechanism of the mantis shrimp and replicate two consecutive impacts. In this study, the mechanism was designed and developed based on a mantis shrimp model. From the experiment, it was observed that the developed mechanism caused cavitation only at the point of impact, rather than during arm swing. This result suggested that the striking force was strengthened, providing insight into the striking mechanism of the mantis shrimp.