Soft fish robot driven by chemical energy release reaction

Abstract

The invention belongs to the field of soft robots, and particularly relates to a soft fish robot driven by a chemical energy release reaction, the soft fish robot comprises a flexible skeleton, a flexible fish skin and a chemical energy release reaction system, the flexible skeleton comprises a flexible fish spine and a flexible fish bone, and the chemical energy release reaction system comprisesan energy release reaction gas storage unit and an energy release reaction excitation unit. According to the bionic robot fish, chemical energy release reaction and variable stiffness structural design are creatively combined, swimming of the soft robot fish driven by the chemical energy release reaction is achieved for the first time, and bionic muscle movement is achieved through reaction bin distribution; a variable-rigidity structure is innovatively used for simulating a machine framework to support a fish body, and flexible fish skin is used for wrapping the whole machine body; compared with other soft fishes, the driving force is higher, the response time is shorter, and the average speed is higher; compared with other rigid robotic fishes, the bionic robotic fish is smaller in mass,higher in degree of freedom and higher in bionic degree.

Description

technical field [0001] The invention belongs to the field of soft robots, and in particular relates to a mollusc fish robot driven by a chemical release energy reaction. Background technique [0002] Underwater soft robots have become a research hotspot in the field of robotics in recent years because of their high degree of freedom and light weight. The movement modes of underwater robots are mainly composed of jet type, wing flapping type and tail swinging type. Jet type mainly generates power by controlling fluid injection (such as squid, jellyfish, etc.), and wing flapping type is similar to the flapping of birds through wings. Generate power (such as manta rays), and the tail swing style is to generate power through the rapid horizontal swing of the fish body (such as blackfish, etc.). Among them, the tail wagging movement method is specifically manifested as: by controlling the muscle movement, the multi-degree-of-freedom spine can respond quickly, so that the fish bo...

AI Technical Summary

Problems solved by technology

Among them, the tail wagging movement method is specifically manifested as: by controlling the muscle movement, the multi-degree-of-freedom spine can respond quickly, so that the fish body can quickly reciprocate in the horizontal direction to generate forward driving force. This swimming method has the fastest response speed. It can realize fast swimming, fast turning and other behaviors, but the control method is the most complicated

Among the existing studies on underwater tail-swinging robots, one is to use rigid prime movers such as steering gears to achieve tail-swinging motions. The research has been very complete, but this type of robotic fish has a large mass and is dependent on electronic control modules. Higher, weak anti-reconnaissance ability in special occasions; the other type is soft robotic fish, the tail swinging motion of soft robotic fish can be realized by shape memory alloy (SMA), dielectric elastomer (DE), etc., but shape memory alloy The requirements for ambient temperature are high, while the driving force generated is small and the response speed is slow. Dielectric elastomers have high requirements for electronic modules. It is necessary to use high-voltage electric stimulation to generate Maxwell stress on the flexible film to cause material deformation. At the same time, the response speed Still somewhat slower, producing less instantaneous drive

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