【摘要】 通过对海月水母的仿生性研究,设计制作了一款仿生水母机器人。基于形状记忆合金(SMA)丝设计了一款具有类似于人工肌肉功能的驱动模块,详细描述了该模块的结构参数和制作工艺,并对其电气特性进行了测试研究。仿生水母机器人由6组SMA驱动模块辐射对称组装构成,采用了基于中枢模式发生器(CPG)网络的仿生控制方式,实现了水母机器人三维空间内多模式游动。最后,针对水母机器人不同的运动模式进行了多组实验,水母机器人游动数据验证了控制模型的有效性。更多还原

【Abstract】 This paper proposes an underwater bio-robot inspired by aurelia.Firstly,a novel actuator module acting as artificial muscle was designed based on the shape memory alloy(SMA)wires,and then,the structure parameters and the manufacturing process of the module were described in detail.Next,the electrical characteristics of the module were tested and studied.The robot consists of six SMA actuator modules,and it can realize multi-pattern swimming motions based on a central pattern generators(CPG)network control method.Finally,different motion modes of the robot were tested in experiments,and the results proved the effectiveness of the control method.更多还原