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Structural dynamics of a pulsed-jet propulsion system for underwater soft robots

机译:水下软机器人脉冲喷射推进系统的结构动力学

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摘要

This paper entails the study of the pulsed-jet propulsion\udinspired by cephalopods in the frame of underwater\udbioinspired robotics. This propulsion routine involves a\udsequence of consecutive cycles of inflation and collapse of\udan elastic bladder, which, in the robotics artefact developed\udby the authors, is enabled by a cable-driven actuation of a\uddeformable shell composed of rubber-like materials. In the\udpresent work an all-comprehensive formulation is derived\udby resorting to a coupled approach that comprises of a\udmodel of the structural dynamics of the cephalopod-like\udelastic bladder and a model of the pulsed-jet thrust production.\udThe bladder, or mantle, is modelled by means of\udgeometrically exact, axisymmetric, nonlinear shell theory,\udwhich yields an accurate estimation of the forces involved\udin driving the deformation of the structure in water. By\udcoupling these results with those from a standard thrust\udmodel, the behaviour of the vehicle propelling itself in\udwater is derived. The constitutive laws of the shell are also\udexploited as control laws with the scope of replicating the\udmuscle activation routine observed in cephalopods. The\udmodel is employed to test various shapes, material properties\udand actuation routines of the mantle. The results are\udcompared in terms of speed performance in order to\udidentify suitable design guidelines. Altogether, the model\udis tested in more than 50 configurations, eventually\udproviding useful insight for the development of more\udadvanced vehicles and bringing evidence of its reliability\udin studying the dynamics of both man-made cephalopodinspired\udrobots and live specimens.
机译:本文在水下\生物仿生机器人的框架下,对头足类动物的脉冲喷射推进\仿生进行了研究。该推进程序涉及到\ udan弹性囊的连续充气和坍塌的连续序列,在作者开发的机器人人工制品中,这是通过电缆驱动由橡胶状组成的\ adudable壳实现的。材料。在目前的工作中,通过采用一种耦合方法得出了一个全面的表述,该耦合方法包括头足类类\非弹性膀胱的结构动力学模型和脉冲喷射推力产生模型。膀胱或地幔是通过\精确的,轴对称的,非线性壳理论\建模的,它可以精确地估计驱动结构在水中变形的力。通过将这些结果与标准推力模型中的结果进行耦合,可以得出车辆在水中推进时的行为。壳的本构定律也被用作控制定律,其复制范围是在头足类动物中观察到的\肌肉激活程序的复制。 \ udmodel用于测试地幔的各种形状,材料属性\ udand和驱动程序。在速度性能方面比较结果以\确定适当的设计准则。该模型总共在50多种配置下进行了测试,最终\提供了对开发更多\先进车辆的有用见识,并提供了其可靠性的证据\ udin研究了人工头足动感\ udrobots和活体标本的动力学。

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