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为了能更好地进行水下科考探测活动,我们设计了一款有别于机器鱼和潜水艇的水下探测体。海蜇的形体及稳定的运动特性更适于水下狭缝和沟壑区域的探测、侦查及紧急避险等。本研究利用海蜇的形体结构和运动模型,对海蜇进行力学仿生,采用合适的材料制作机器人的机械结构,选择合适的驱动方式并加载摄像头和各类传感器。海蜇运动探测体分为两个主要部分:球冠状头部和连设在该球冠状头部的下方的腔体,以及若干个均匀分布在
In order to better carry out underwater exploration test activities, we designed a different from the fish and submarine submarine underwater detection. Jellyfish shape and stable motion characteristics more suitable for underwater slits and gully areas of detection, detection and emergency hedging. In this study, the body structure and movement model of jellyfish were used to mechanically simulate jellyfish. The mechanical structure of the robot was made of suitable materials, the appropriate driving mode was selected, and the camera and various sensors were loaded. The jellyfish motion detection body is divided into two main parts: a spherical coronal head and a cavity disposed below the spherical coronal head, and a plurality of cavities evenly distributed in