Simplified method for testing performance of flank tentacle of jellyfish robot

Abstract

The invention discloses a simplified jellyfish robot side wing tentacle performance test method, which comprises the following steps of S1, building a test platform, and hanging a weight at a connection point of a jellyfish robot side wing tentacle to simulate the stress condition of a jellyfish moving underwater; s2, a speed sensor, a displacement sensor and a pressure sensor are installed on the platform and used for obtaining and recording movement data of the tentacle; s3, processing and analyzing the data acquired in S2 to evaluate the performance of the lateral wing tentacle of the jellyfish robot; and S4, the analyzed data are compared with data required by jellyfish robot design, and whether the performance of the tentacle reaches the expectation or not is evaluated.

Description

Technical Field

[0001] The invention relates to a robot performance testing method, in particular to a simplified method for testing the performance of lateral tentacles of a jellyfish robot. Background Art

[0002] A jellyfish robot is a robot that imitates the movement characteristics of a jellyfish. Its lateral tentacles are an important part of the robot, affecting its movement performance and stability. With the development of robotics technology, jellyfish robots have broad application prospects in underwater navigation, detection, and operations. Therefore, it is of great significance to test and study the performance of the lateral tentacles of jellyfish robots.

[0003] However, existing testing methods are often complex and costly. Traditional performance testing methods usually need to be carried out in an actual underwater environment, which requires expensive equipment and complex data processing procedures. Therefore, a simplified testing method is needed to improve test efficiency, reduce costs, and eliminate the influence of external environmental factors on test results. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the performance testing method of the jellyfish robot in the prior art usually needs to be carried out in an actual underwater environment, which requires expensive equipment and complex data processing procedures.

[0005] To achieve the above object, the present invention provides the following technical solution: a simplified method for testing the performance of the wing tentacles of a jellyfish robot, comprising the following steps:

[0006] S1 built a test platform and hung weights at the connection points of the wing tentacles of the jellyfish robot to simulate the force of the jellyfish moving underwater;

[0007] S2 has a velocity sensor, a displacement sensor, and a pressure sensor installed on the platform to obtain and record the motion data of the tentacle;

[0008] S3 processes and analyzes the data collected by S2 to evaluate the performance of the lateral tentacles of the jellyfish robot;

[0009] S4 compares the analyzed data with the data required by the jellyfish robot design to evaluate whether the performance of the tentacle meets expectations.

[0010] Preferably, the jellyfish robot includes a head component, a main body structure and a plurality of wing tentacles surrounding the head component. In S1, the head component is arranged on a fixed frame, one end of the wing tentacle is connected to the head component, the middle part of the wing tentacle is connected to the main body structure through a supporting structure, the head component is arranged at the top of the main body structure, and the wing tentacles can move up and down relative to the main body structure.

[0011] Preferably, in S1, a weight is hung at the connection between the main body structure and the side tentacles of the jellyfish robot.

[0012] Preferably, in S2, the pressure sensor is arranged at the weight suspension location, and the velocity sensor and the displacement sensor are arranged on the fixing frame.

[0013] Preferably, the expected standard in S4 is that the tentacle swinging angle can reach 40° and when the weight of the suspended weight reaches 3 kg, the wing tentacles of the jellyfish robot can swing normally.

[0014] The present invention has the following beneficial effects: The present invention provides a simplified method for testing the performance of the wing tentacles of a jellyfish robot. The method constructs a simple environment simulating the movement of a jellyfish robot underwater, and is equipped with speed, displacement and pressure sensors to monitor and record the movement data of the tentacles. By adding weights to simulate the underwater pressure, the performance index data is collected. In general, the present invention provides a simple testing method, which not only improves the testing efficiency and reduces the cost, but also provides important technical support for the research, production and practical application of the wing tentacles of a jellyfish robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For a technician in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a three-dimensional schematic diagram of the present invention.

[0017] Figure 2 It is a simplified schematic diagram of the jellyfish robot of the present invention.

[0018] Figure 3 A simplified schematic diagram of the performance test performed for the present invention.

[0019] Figure 4 It is a schematic diagram of the change of the swing angle of the tentacle according to the weight of the weight.

[0020] Figure 5 It is a schematic diagram of the sampling times corresponding to the swing angle of the tentacle of the present invention.

[0021] In the figure: 1-jellyfish robot head; 2-simplified diagram of jellyfish robot; 3-displacement sensor; 4-fixed bracket; 5-speed sensor; 6-pressure sensor; 7-equivalent weight. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by the first technician in the field without making creative work belong to the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by the first technician in the field without making creative work belong to the scope of protection of the present invention.

[0023] Example

[0024] The following are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the following embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

[0025] Reference Manual Attached Figure 1-5 The present invention provides a simplified method for testing the performance of the wing tentacles of a jellyfish robot, comprising the following steps:

[0026] S1 builds a test platform and hangs weights at the connection points of the wing tentacles of the jellyfish robot to simulate the force of the jellyfish moving underwater; the method of simulating underwater pressure is to hang weights of different weights on the connection points of the wing tentacles of the jellyfish robot, and simulate the pressure at different water depths by changing the weight of the weights. The weight hanging position is the point of action of the concentrated force, and the connection is movable, which better simulates the hydrostatic pressure of the wing tentacles when they move. In S1, weights are hung at the connection between the main structure and the wing tentacles of the jellyfish robot.

[0027] S2 has speed sensors, displacement sensors and pressure sensors installed on the platform to obtain and record the motion data of the tentacles; the simple data measurement platform should have enough space to accommodate the flank tentacles of the jellyfish robot and move freely. The speed, angle and pressure sensors should be adjusted according to actual needs to ensure comprehensive monitoring of the motion data of the tentacles. The layout and quantity of the speed sensor, angle sensor and pressure sensor can be adjusted according to actual conditions to facilitate comprehensive monitoring of the motion state of the tentacles. The pressure sensor is set at the weight suspension, and the speed sensor and displacement sensor are set on the fixed frame. Refer to the attached drawings of the specification Figure 3As shown, when measuring a single tentacle, only one acceleration sensor, one displacement sensor, and one velocity sensor need to be arranged. When measuring multiple tentacles, the number of related sensors needs to be adjusted accordingly. S3 processes and analyzes the data collected by S2 to evaluate the performance of the wing tentacles of the jellyfish robot; data processing includes real-time monitoring and recording of the tentacle movement speed, acceleration, and angle for subsequent analysis. The collected data will undergo a detailed statistical analysis to evaluate whether the performance of the tentacles has met the design goals. Further evaluate whether the performance of the tentacles meets the design requirements, and use the analysis results to guide the design optimization and performance improvement of the wing tentacles of the jellyfish robot. The specific test process of the wing tentacles of the jellyfish robot is that the three sensors work simultaneously. When the pressure is zero, the angle sensor is responsible for measuring the change of the tentacle angle with the cycle. Please refer to the attached manual. Figure 5 , the angle fluctuates mainly between 0 and 40 degrees, the angle change has good stability, and the curve shows periodic changes, which shows the stability and regularity of the angle change (here the initial pressure is zero, the tentacle moves (the tentacle angle changes), and verifies that the data curve detected by the angle sensor is a periodic change, thereby confirming the stability and regularity of the angle change.

[0028] On this basis, weights are further hung (weight is added to simulate underwater force conditions) so that the experimenters can judge the angle changes under different pressures (weights are different) on the basis of the stability and regularity of the angle changes, thereby completing the simulation verification so that the experimenters can carry out physical design. ). Furthermore, by continuously increasing the weight of the weights, the angle changes under different pressures can be obtained for performance evaluation.

[0029] S4 compares the analyzed data with the data required by the jellyfish robot design to evaluate whether the performance of the tentacle meets expectations. The expected standards mainly include whether the tentacle swing angle reaches 40° or above, whether the tentacle can continue to work as the added weight increases, and whether the swing angle fluctuation is normal when the weight of the suspended weight reaches 3kg.

[0030] Reference Manual Attached Figure 4 From the measurement results, it can be seen that the maximum angle change within the cycle is about 41.11°, and the angle change curve of the tentacle shows good periodicity, achieving the expected effect. When the load increases from 0.5kg to 1kg, the tentacle angle decreases the most, which shows that within this load range, the tentacle mechanism is most sensitive to the load. However, as the load continues to increase to 3kg, the decrease in the swing arm angle becomes significantly smaller and gradually stabilizes, which is consistent with the expected design.

[0031] The jellyfish robot includes a head component, a main body structure and a plurality of wing tentacles surrounding the head component. In S1, the head component is arranged on a fixed frame, one end of the wing tentacle is connected to the head component, the middle part of the wing tentacle is connected to the main body structure through a supporting structure, the head component is arranged at the top of the main body structure, and the wing tentacles can move up and down relative to the main body structure.

[0032] The invention is applicable to the research and development, production and practical application of the wing tentacles of jellyfish robots, and helps to improve the performance and reliability of the tentacles. The method of the invention has the advantages of improving test efficiency, reducing costs and providing important technical support, and helps to promote the development of jellyfish robot technology.

[0033] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A simplified method for testing the performance of the lateral tentacles of a jellyfish robot, characterized in that: The steps include: S1 built a test platform and hung weights at the connection points of the wing tentacles of the jellyfish robot to simulate the force of the jellyfish moving underwater; S2 has a velocity sensor, a displacement sensor, and a pressure sensor installed on the platform to obtain and record the motion data of the tentacle; S3 processes and analyzes the data collected by S2 to evaluate the performance of the lateral tentacles of the jellyfish robot; S4 compares the analyzed data with the data required by the jellyfish robot design to evaluate whether the performance of the tentacle meets expectations.

2. The simplified method for testing the performance of the wing tentacles of a jellyfish robot according to claim 1, characterized in that: The jellyfish robot includes a head component, a main body structure and a plurality of wing tentacles surrounding the head component. In S1, the head component is arranged on a fixed frame, one end of the wing tentacle is connected to the head component, the middle part of the wing tentacle is connected to the main body structure through a supporting structure, the head component is arranged at the top of the main body structure, and the wing tentacles can move up and down relative to the main body structure.

3. The simplified method for testing the performance of the wing tentacles of a jellyfish robot according to claim 2, characterized in that: In S1, weights are hung at the connection between the main body structure and the side tentacles of the jellyfish robot.

4. The simplified method for testing the performance of the wing tentacles of a jellyfish robot according to claim 3, characterized in that: In S2, the pressure sensor is arranged at the weight suspension location, and the velocity sensor and the displacement sensor are arranged on the fixing frame.

5. The simplified method for testing the performance of the wing tentacles of a jellyfish robot according to claim 1, characterized in that: The expected standards in S4 are that the tentacle swing angle can reach 40° and that the wing tentacles of the jellyfish robot can swing normally when the weight of the suspended weight reaches 3 kg.

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