On the Kinematic Synthesis of Jet Propulsion Mechanisms for Bionic Jellyfishes With 6 Links

Hsieh, Wen-Hsiang; Peng, Chian-Cheng

doi:10.1139/tcsme-2007-0019

Cited by 2 publications

(4 citation statements)

References 5 publications

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“…A new bionic jellyfish [9] shown in Figure 1 is presented here for illustrating the process of kinematic analysis. Its vector representation is depicted in Figure 2.…”

Section: Rigid-body Bionic Jellyfish Designmentioning

confidence: 99%

“…Kinematic synthesis [9] has to be performed firstly in order to generate the specified output motion. It consists of structural synthesis and dimensional synthesis.…”

Section: Compliant Bionic Jellyfish Designmentioning

confidence: 99%

“…Since its thrust force is mainly produced by the propeller, not the rocker, its swimming does not mimic a real jellyfish. Hsieh et al [8,9] performed the structural synthesis and/or dimensional synthesis of bionic jellyfishes with 3, 5, and 6 links. However, due to the limitation of the number of accuracy points in dimensional synthesis for a rigid-body link mechanism, the jet propulsion motion of the proposed jellyfishes did not fairly agree with a real jellyfish.…”

Section: Introductionmentioning

confidence: 99%

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On the resonance analysis for compliant bionic jellyfishes

Hsieh

Chen

2010

Sci. China Technol. Sci.

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A bionic jellyfish is a robot that can mimic the swimming of a real jellyfish. In practical application, the volume and the capacity of its carrying power are limited, hence its power consumption is a crucial factor for continuous swimming. The purpose of this paper is to propose an approach for the resonance analysis of bionic jellyfishes in order to investigate their energy efficiency in swimming. First, a suitable rigid-body bionic jellyfish was chosen from the previous study, and then its design approach was presented, Then, it was transformed into a compliant design, by the proposed method, in order to mimic the motion of a real jellyfish. Furthermore, its solid model was drawn, and the approach of modal analysis by using ANSYS software was addressed. After that, two terms, specific energy and energy ratio, were defined in order to evaluate its energy efficiency. Finally, a design example was given for illustration, and its motion simulations with and without resonance input were conducted by using ADAMS software. Additionally, their specific energies and energy ratios were found. The simulation results showed that the required input energy would be significantly reduced if a bionic jellyfish swims at its resonance frequency. bionic robot, jellyfish, compliant mechanism, resonance analysis Citation:Hsieh W H, Chen T I. On the resonance analysis for compliant bionic jellyfishes.

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“…A new bionic jellyfish [9] shown in Figure 1 is presented here for illustrating the process of kinematic analysis. Its vector representation is depicted in Figure 2.…”

Section: Rigid-body Bionic Jellyfish Designmentioning

confidence: 99%

“…Kinematic synthesis [9] has to be performed firstly in order to generate the specified output motion. It consists of structural synthesis and dimensional synthesis.…”

Section: Compliant Bionic Jellyfish Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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On the resonance analysis for compliant bionic jellyfishes

Hsieh

Chen

2010

Sci. China Technol. Sci.

Self Cite

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“…In recent years, researchers have drawn inspiration from aquatic organisms to design a series of bionic robots with high mobility, low noise, high efficiency, and good concealment, making underwater robots have a broader application space [9,10]. Common bionic underwater robots include fish bionic [11], lobster bionic [12], tuna caudal fin bionic [13], turtle bionic [14], and jellyfish bionic [15][16][17][18]. Jet propulsion is used most widely in the propulsion systems of bionic robots [19].…”

Section: Introductionmentioning

confidence: 99%

Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot

Cheng

Chen

et al. 2023

Sustainability

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Underwater robotics is rapidly evolving due to the increasing demand for marine resource exploitation. Compared with rigid robots propelled by propellers, bionic robots are stealthier and more maneuverable, such as autonomous underwater vehicles (AUVs) and remotely operated vehicles (ROVs), making them widely used underwater. In order to study the motion state of the umbrella jellyfish bionic robot, the displacement of the jellyfish robot along the same direction and the surrounding fluid pressure distribution caused by the jellyfish motion under different experimental conditions are discussed in this paper. The effect of different environmental factors on driving the jellyfish robot is determined by comparing the displacements at different observation points. The results of the study show that the lower the frequency and the longer the motion period, the greater the displacement produced by the robot within the same motion period. Frequency has a significant effect on the motion state of the jellyfish robot. While the change of amplitude also affects the motion state of the jellyfish robot, the displacement of the relaxation phase of the jellyfish robot is much smaller than that of the contraction phase with a small amplitude. It can be concluded that the effect of frequency on robot displacement is greater than the effect of amplitude on robot displacement. This study qualitatively discusses the changes of the motion state of the bionic jellyfish robot in still water under the excitation of different frequencies and amplitudes, and the results can provide corresponding reference for the future application of the bionic jellyfish robot, such as resource exploration, underwater exploration, and complex environment exploration.

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On the Kinematic Synthesis of Jet Propulsion Mechanisms for Bionic Jellyfishes With 6 Links

Cited by 2 publications

References 5 publications

On the resonance analysis for compliant bionic jellyfishes

On the resonance analysis for compliant bionic jellyfishes

Numerical Study of Different Engineering Conditions on the Propulsive Performance of the Bionic Jellyfish Robot

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