Motion Control of Robot Jellyfish Based on Umbrella Structure Actuator

摘要

In order to meet the requirement for ensuring good stability of an underwater robot, this paper presents the design of a bionic robot jellyfish based on a novel umbrella-like slurry actuator. The jellyfish robot is composed of a sealing cover, a main support, a transmission device based on spur gear and crank mechanism, and an umbrella slurry actuator. Six evenly distributed circumferential actuators are utilized to propel the robot jellyfish forward by driving the slurry structure. Additionally, motion simulation analysis conducted on the umbrella drive using Solidworks demonstrates that the new drive is capable of achieving a higher level of propulsion. Finally, PID algorithm is employed to control the coding motor, and a system experiment platform is established to analyze the single slurry actuator. Therefore, it can be concluded that the proposed jellyfish robot in this paper has the capability to achieve stable underwater movement.