A pneumatically driven stingray-like wave propulsion soft robot and its manufacturing method

Abstract

The invention discloses a pneumatically driven stingray imitation wave propulsion soft robot and a manufacturing method thereof. The soft robot is composed of a fin ray installation skeleton, flexible pectoral fins and multiple flexible air pipes. The robot as a whole is made of flexible materials except for the fin ray installation skeleton. The flexible pectoral fin consists of driving fin rays and flexible fin surfaces, wherein the driving fin rays are radially arranged on the "disk-shaped" flexible fin surface. The driving fin has two upper and lower air chambers; the driving fin can adjust its stiffness through the internal air pressure. The top of the driving fin is connected with a blocking air cavity, which can realize the adjustment of the outer stiffness. Because fishes propelled by waves have good maneuverability and concealment, and can maintain a stable and flexible motion state in complex working environments, the design of underwater thrusters that simulate wave propulsion has become a research hotspot. "As a bionic object, it provides a new idea for the design of underwater thrusters through deep bionics at the geometric and physical levels.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and relates to a pneumatically driven stingray imitation wave propulsion soft robot and a manufacturing method thereof. Background technique [0002] The current designs of underwater propellers are mostly conventional propellers using propellers and impellers, and the driving methods are mostly electromagnetic motors or hydraulic motors. In addition to the advantages of simple design, these propellers also have many disadvantages that cannot be ignored. Disadvantages, such as high noise, large disturbance, low energy utilization rate, heavy structural weight, etc. In addition, there are many limitations in the motion performance of traditional underwater propulsion, such as weak start-up acceleration performance, motion flexibility, controllable These problems have caused the current conditions of use of underwater propulsion equipment to be limited. Underwater organisms have always b...

AI Technical Summary

Problems solved by technology

To sum up, the rigid fin rays involved in the prior art cannot realize the flexible "big deformation" of the fish-like body when swimming, and the stiffness of the fin rays cannot be actively adjusted, so the application environment of the prototype robot is limited. and athletic performance

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