Development of a Mantis Shrimp Type Instantaneous Force Generation Mechanism

Abstract

This paper presents the design and experiment of the instantaneous force generation mechanism based on the motion of the mantis shrimp, considering the occurrence of cavitation. This study aims to develop a robot that strengthen the striking force by generating cavitation. In conventional studies, it has been confirmed that mantis shrimp generated two consecutive impacts on a hard object by hitting and cavitation in water. However, there is no robot that can impact twice with a mantis shrimp's striking mechanism. In this paper, striking mechanism of mantis shrimp was modeled and the mechanism was designed and developed based on the model. From the experiment, it was confirmed that the proposed mechanism caused cavitation only at the point of collision with the object. This result indicates the possibility of strengthening the striking force.