Cyro – biomimic jellyfish robot
Guns? I thought this was bioE!
Why does a gun recoil?How is a submarine propelled?
How does a jellyfish propel itself?
Biomimetic Robot Design
• Features to replicate?• How to do this simply?
• Bell material properties: buoyancy, elasticity• Bell geometry/deformation• Muscles/Actuation
Action and Reaction: SMAsShape Memory Alloys (SMA)
Stress, strain and heating
Crystal structure phase change
Temperature induced phase change:
Martensite: soft, plastic, easily deformable state
Austenite: much harder material, rigid/difficult to deform.
Computer control: Feedback
SMA contracts
Changing resistance
Monitored by computerAdjusts current flow through SMA
Up, up, and away
ReferencesJellyfish Propulsion Mechanisms
S. Colin and J. Costello. Morphology, swimming performance and propulsive mode of six co-occuring hydromedusae. J. Exp Biol. 205 (2002) 427-437.
J. Dabiri et al. Flow patterns generated by oblate medusan jellyfish: field measurements and laboratory analyses. J. Exp Biol. 208 (2005) 1257-1265
Bioinspired Jellyfish Robot (Robojelly)
A. Villanueva et al. A biomimetic robotic jellyfish (Robojelly) actuated by shape memory alloy composite actuators. Bioinsp. Biomim 6 (2011) 036004
A. Villanueva et al. A bio-inspired shape memory alloy composite (BISMAC) actuator. Smart Mater. Struct. 19 (2010) 025013