Near-Field Driven Origami-Based Bio-Inspired Jellyfish Robot
Sen Wang, Chengxiang Lu, Lepeng Chen, Yi Tang, Mansen Chen, Shuai Zhang, Jun Liu
Abstract
The development of bio-inspired jellyfish robots holds significant benefits for autonomous aquatic systems due to jellyfish’s efficient water jet propulsion. However, the current design of jellyfish robots still faces challenges in balancing high biological fidelity with the demands of lightweight, compact design and high-speed locomotion. This study presents a bio-inspired jellyfish robot that emulates the shape and efficient water jet propulsion of natural jellyfish. The origami-based bell and supporting structure are designed to form an efficient water-jet cavity. As the primary components of the robot, they endow the robot with the ability to self-recover to a stable state during locomotion, thereby reducing energy consumption. Additionally, they replace traditional transmission mechanisms, thereby reducing the weight and complexity of the robot. An optimization model is established to determine the optimal parameters of the robot. Furthermore, a near-field magnetic actuation system is designed to drive the robot, enabling contactless and silent underwater driving without waterproofing requirements. The robot features a diameter of 101.6 mm, a height of 63.8 mm, and a weight of 12.5 g. Experimental results demonstrate a maximum locomotion speed of up to 96.2 mm/s.