Swimming analysis and performance testing of an SMA-driven bionic jellyfish robot

摘要

In this paper, drive effect analysis and performance testing of a bionic jellyfish robot driven by SMA-based materials are carried out. Firstly, the design ideas of the driver and the overall structure are presented. The effect of eddy currents at the end of bionic tentacles on the swimming performance of a jellyfish robot during its movement is investigated. The constructed bionic jellyfish robot model is subjected to two-way fluid-solid coupling simulation. The effect of eddy currents at the end of bionic tentacles on the propulsive effect of a jellyfish robot during paddle propulsion is investigated. It is demonstrated that jellyfish robots exhibit passive energy recovery capabilities analogous to those observed in real jellyfish. A prototype bionic jellyfish robot is produced. A test platform is constructed for the purpose of underwater swimming performance testing. The performance of the jellyfish robot is evaluated in terms of its ability to navigate in a straight line and to perform turns while swimming at different operating frequencies.