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Abstract
With the development of the global marine industry, the demand to investigate underwater environments using robots is increasing. Inspired by the unique structure and excellent swimming ability of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Aurelia aurita</i> , a miniature jellyfish-inspired robot is developed. The robot comprises a headshell, six tentacles, a primary drive component, two flywheel steering components, a lightweight foam block, a dsPIC control system, and an energy supply component. The tentacles are covered with a 0.1-mm-thick silicone membrane and modeled in the shape of an umbrella. The membrane is driven by a gear motor to mimic the contraction and expansion of the interior cavity of a jellyfish; it exhibits the swimming behavior via water jet propulsion. Three-dimensional swimming is achieved by the flywheel steering components following the conservation of angular momentum. A built-in LoRa communication module (433 MHz) enables a robust, real-time connection between the robot and a terrestrial console. The small-sized, lightweight jellyfish robot has a diameter of 110 mm and a height of 140 mm; it weighs 318 g and achieves autonomous swimming with low power consumption. The robot can be used for underwater signal relay, environmental monitoring, and geological investigations.
Published Version
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