Mantis Shrimp-Inspired Underwater Striking Device Generates Cavitation
作者机构：State Key Laboratory of TribologyDepartment of Mechanical EngineeringTsinghua UniversityBeijing100084China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2022年第19卷第6期
页 面：1758-1770页
核心收录：
学科分类：0710[理学-生物学] 080704[工学-流体机械及工程] 080103[工学-流体力学] 08[工学] 0807[工学-动力工程及工程热物理] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）]
基 金：National Natural Science Foundation of China under Grant 51425502
主 题：Mantis shrimp Biomechanics Power amplification Cavitation Latch-mediated spring actuation
摘 要：Different from direct impact damage exerted by limbs of most organisms,mantis shrimps’appendages can carry out ultra-fast,powerful underwater strikes with cavitation superimposed damage to harvest hard-shelled *** power amplification systems and cavitation generation of mantis shrimp have attracted vast attention of *** effort has been paid to developing mantis shrimp-inspired striking robots;however,none of them are capable of generating cavitation during impacting hard objects *** this paper,an underwater striking robot named Shrimpbot was developed to reproduce the cavitation phenomenon when striking hard *** incorporates a Latch-Mediated Spring Actuation(LaMSA)to slowly store energy and release it instantaneously.A Diamond-Shaped Four-bar Linkage(DSFL)stretches springs to more effectively store elastic energy by reducing the maximum torque requirement of the *** design promised an average power amplification of over 30 times of the *** optimization and hydrophobic coating on the hammerhead and hand of Shrimpbot helped to reduce the water *** accomplished Shrimpbot reached an impact speed of over 12 m/s,at an acceleration of 2×10^(3) m/s^(2),an impact force of more than 1200 N in water,very close to the performance of mantis *** importantly,cavitation bubbles accompanied with the impacts were observed for the first time in mantis shrimp-inspired *** ingeniously employs only one motor to accomplish the striking automatically and repeatedly for practical *** mimics the cavitation generation skills of mantis shrimp,which could facilitate the understanding of its mechanical principles and fluid dynamics of ultra-fast power-amplified systems of mantis shrimp and even those energy storage mechanisms of jumping robots or exoskeleton robots.
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