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This paper introduces the design, fabrication and experiment of a biomimetic jellyfish robot based on a soft and smart modular structure (SMS) to mimic the behavior of the alternating shrinkage and expansion of the real jellyfish. The SMS consisted of two layers including an actuating layer and a recovery layer. And to mimic the actinomorphic structure of the jellyfish, the jellyfish robot had six...
An amphibious robot can locomote in amphibious environments, including walking on rough terrains, maneuvering underwater, and passing through soft muddy or sandy substrates in the littoral area between land and water. However, developing an amphibious robot is challenging, especially when it requires a high locomotory performance in soft substrates and a combination of different propulsion methods...
Attracted by the fact that there are lots of demands for robots working in the amphibious environment, this paper proposes a novel, simple and efficient leg for amphibious robots. That leg is made of the elastic material. The leg could deform a curve-like one passively, forced by the resistance when moving on the ground. Moreover, the leg would recover straight, fin-like, promoting the robots swimming...
The article introduces an actinomorphic soft robot that possesses a flattened body with a number of arms radially symmetric distributing and extending from robot central disc. Hence, mimicking radially symmetric musculature animals like starfish. The robot arm system, consisted of arm and smart material alloy (SMA) springs is the support structure as well as the robot propulsion device. A novel approach...
The locomotion performances of a quadruped robot with compliant feet based on closed-chain mechanism legs are presented. The legs of this quadruped robot were made up of six-bar linkage mechanism with one degree of freedom. And a special foot trajectory could be gained through kinematic analysis and optimum design of the six-bar linkage mechanism. In order to reduce the impact force of quadruped robot's...
The amphibious robot is so attractive and challenging for its broad application and its complex working environment. It should walk on rough ground, maneuver underwater and pass through transitional terrain such as sand and mud, simultaneously. To tackle with such a complex task, a novel amphibious robot (AmphiHex-I) with transformable leg-flipper composite propulsion is proposed and developed. This...
Mollusks have a strong ability adapting to environment, many researchers have developed some soft robots mimicking the mollusks movements, but these soft robots usually have only one locomotion mode, which cannot effectively take into account the movement efficiency and the environment adaptability simultaneously. In this paper, we present a novel soft robot with three locomotion modes which are rolling,...
The main goal of this paper is to analyze the flutter boundary and dynamic load of a supersonic fin. Reduced order mode (ROM) based on Volterra Series is presented to calculate the flutter boundary, and CFD/CSD coupling is used to compute the transient aerodynamic load. The Volterra-based ROM is obtained using the derivative of unsteady aerodynamic step-response, and the infinite plate spline is used...
The main goal of present paper is to construct an efficient reduced order model (ROM) for unsteady aerodynamic force modeling. Balanced Truncation (BT) is presented to address the problem. For conventional BT method, it is necessary to compute exact controllability and observability grammians. Although it is relatively straightforward to compute these matrices in a control setting where the system...
The main objective of this paper is to numerically investigate the effects of a divert jet on the overall aerodynamic performance of a generic interceptor missile operating at moderate angle attack. A generic missile interceptor configuration consisting of a long, slender body containing tail fins is simulated in this study. Firstly, K-epsiv, K-omega and S-A turbulent model are evaluated in simulating...
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