A jellyfish-inspired jet propulsion robot (JetPRo) is designed, fabricated, and characterized with the objective of creating a fast-swimming uncrewed undersea vehicle. JetPRo measures 7.9 cm in height, 5.7 cm in diameter and is designed to mimic the proficient jetting propulsion mechanism used by the hydromedusa Sarsia tubulosa, which measures approximately 1 cm in diameter. In order to achieve the uniform-bell contraction used by S. tubulosa, we develop a novel circumferential actuation technique based on a mechanical iris diaphragm. When triggered, this mechanism induces a volumetric change of a deformable silicone cavity to expel a jet of fluid and produces positive thrust. A theoretical jetting model is used to optimize JetPRo's gait for maximum steady-state swimming velocity, a result achieved by minimizing the timing between the contraction and relaxation phases. We validate this finding empirically and quantify the swimming performance of the robot using video tracking and time resolved digital particle image velocimetry. JetPRo was able to produce discrete vortex rings shed before pinch off and swim upwards with a maximum steady-state velocity of 11.6 cm s-1, outperforming current state-of-the-art robotic jellyfish in velocity as well as diameter-normalized velocity.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A jellyfish-inspired jet propulsion robot actuated by an iris mechanism


    Additional title:

    Ein von Quallen inspirierter und durch einen Irismechanismus betriebener Strahlantriebsroboter


    Contributors:

    Published in:

    Smart Materials and Structures ; 22 , 9 ; 094021/1-094021/12


    Publication date :

    2013


    Size :

    12 Seiten, 32 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Bi-directional locomotion of a magnetically-actuated jellyfish-inspired soft robot

    Pramanik, Ratnadeep / Onck, Patrick R. / Verstappen, Roel W.C.P. | BASE | 2021

    Free access

    Magnetic-field-induced propulsion of jellyfish-inspired soft robotic swimmers

    Pramanik, R. / Verstappen, R. W. C. P. / Onck, P. R. | BASE | 2023

    Free access

    Biomimetic jellyfish-inspired underwater vehicle actuated by ionic polymer metal composite actuators

    Najem, Joseph / Sarles, Stephen A. / Akle, Barbar et al. | Tema Archive | 2012


    Bionic jellyfish propelling mechanism and bionic jellyfish robot

    SONG KUN / DING JUN / CHEN ZHIYU et al. | European Patent Office | 2023

    Free access

    Propulsion Motion of Jellyfish

    Ichikawa, S. / Mochizuki, O. / Study Group of Aero Aqua Bio-mechanisms | British Library Conference Proceedings | 2006