| Автор | Villanueva, Alex |
| Автор | Smith, Colin |
| Автор | Priya, Shashank |
| Дата выпуска | 2011-09-01 |
| dc.description | An analysis is conducted on the design, fabrication and performance of an underwater vehicle mimicking the propulsion mechanism and physical appearance of a medusa (jellyfish). The robotic jellyfish called Robojelly mimics the morphology and kinematics of the Aurelia aurita species. Robojelly actuates using bio-inspired shape memory alloy composite actuators. A systematic fabrication technique was developed to replicate the essential structural features of A. aurita. Robojelly's body was fabricated from RTV silicone having a total mass of 242 g and bell diameter of 164 mm. Robojelly was able to generate enough thrust in static water conditions to propel itself and achieve a proficiency of 0.19 s<sup>−1</sup> while the A. aurita achieves a proficiency of around 0.25 s<sup>−1</sup>. A thrust analysis based on empirical measurements for a natural jellyfish was used to compare the performance of the different robotic configurations. The configuration with best performance was a Robojelly with segmented bell and a passive flap structure. Robojelly was found to consume an average power on the order of 17 W with the actuators not having fully reached a thermal steady state. |
| Формат | application.pdf |
| Издатель | Institute of Physics Publishing |
| Копирайт | 2011 IOP Publishing Ltd |
| Название | A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators |
| Тип | paper |
| DOI | 10.1088/1748-3182/6/3/036004 |
| Print ISSN | 1748-3190 |
| Журнал | Bioinspiration & Biomimetics |
| Том | 6 |
| Первая страница | 36004 |
| Последняя страница | 36019 |
| Аффилиация | Villanueva, Alex; Center for Intelligent Material Systems and Structures (CIMSS), Virginia Tech, Blacksburg, VA 24061, USA; Center for Energy Harvesting Materials and Systems (CEHMS), Virginia Tech, Blacksburg, VA 24061, USA |
| Аффилиация | Smith, Colin; Center for Intelligent Material Systems and Structures (CIMSS), Virginia Tech, Blacksburg, VA 24061, USA; Center for Energy Harvesting Materials and Systems (CEHMS), Virginia Tech, Blacksburg, VA 24061, USA |
| Аффилиация | Priya, Shashank; Center for Intelligent Material Systems and Structures (CIMSS), Virginia Tech, Blacksburg, VA 24061, USA; Center for Energy Harvesting Materials and Systems (CEHMS), Virginia Tech, Blacksburg, VA 24061, USA; |
| Выпуск | 3 |
