Journal of Bionic Engineering ›› 2025, Vol. 22 ›› Issue (2): 805-821.doi: 10.1007/s42235-025-00655-2
Mathematical Models of Scallop Locomotion and Optimal Design of Scallop-Inspired Robot
Yumo Wang1; Jiajun Xu2; Jiazu Zhou3; Xiayu Tao4; Ziwei Yin1; Tianyu Gao1; Wentao Sheng1
-
1 School of Intelligent Manufacturing, Nanjing University ofScience and Technology, Nanjing 210094, China
2 College of Mechanical and Electrical Engineering, NanjingUniversity of Aeronautics and Astronautics, Nanjing210016, China
3 Future Cities Lab Global, Singapore-ETH Centre, Singapore,Singapore4 National Synchrotron Radiation Laboratory, University ofScience and Technology of China, Hefei 230029, China
Mathematical Models of Scallop Locomotion and Optimal Design of Scallop-Inspired Robot
Yumo Wang1; Jiajun Xu2; Jiazu Zhou3; Xiayu Tao4; Ziwei Yin1; Tianyu Gao1; Wentao Sheng1
-
1 School of Intelligent Manufacturing, Nanjing University ofScience and Technology, Nanjing 210094, China
2 College of Mechanical and Electrical Engineering, NanjingUniversity of Aeronautics and Astronautics, Nanjing210016, China
3 Future Cities Lab Global, Singapore-ETH Centre, Singapore,Singapore4 National Synchrotron Radiation Laboratory, University ofScience and Technology of China, Hefei 230029, China
摘要： Underwater jet propulsion bio-inspired robots have typically been designed based on soft-bodied organisms, exhibiting relatively limited forms of locomotion. Scallop, a bivalve organism capable of jet propulsion, holds significant importance in the study of underwater motion mechanisms. In this study, we present theoretical fluid mechanics analysis and modeling of the three distinct motion stages of scallops, providing parameterized descriptions of scallop locomotion mechanisms. Accordingly, three-stage adaptive motion control for the scallop robot and model-based robot configuration optimization design were achieved. An experimental platform and a robot prototype were built to validate the accuracy of the motion model and the effectiveness of the control strategy. Additionally, based on the models, future optimization directions for the robot are proposed.