Manta ray-imitating underwater soft robot based on liquid dielectric driver

Abstract

The invention discloses a manta ray-imitating underwater soft robot based on a liquid dielectric medium driver, and belongs to the field of soft robots. The soft robot comprises an integrated flexible robot body shell, an internal trunk frame, a left pectoral fin driving module, a right pectoral fin driving module, a circuit module and a tail fin driving module; the integrated flexible robot body shell wraps the interior trunk frame and all the modules and serves as a shell of the whole soft robot; the left pectoral fin driving module and the right pectoral fin driving module are symmetrically hinged to the two sides of the internal trunk frame, the tail fin driving module is hinged to the tail of the internal trunk frame, and the circuit module is installed on the internal trunk frame; and the pectoral fin driving modules drive the fin ray to flutter up and down through the contraction motion of the liquid dielectric media on the two sides of the fin ray. The underwater robot is higher in swimming speed, larger in designable maximum displacement, higher in carrying capacity and capable of completing more kinds of work tasks.

Description

Technical field [0001] The present invention belongs to the field of software robots, and in particular to a liquid-based mitigation of a liquid dielectric driver. Background technique [0002] Traditional underwater robots are usually advanced by propelles, with low noise, low energy efficiency, limit their ability to detect monitoring and long-distance cruise. At the same time, the organisms in the water generally have no noise, energy conversion rate, high-speed and high-speed performance. In order to improve the shortcomings of traditional underwater robots, researchers study underwater robots from the perspective of bionics, and imitation bats underwater robots are one of the important research fields. [0003] Imitation of the underwater mobility robot moving through the push of the chest fin. The current imitation bamboo is divided into two kinds. One is to use a traditional motor-driven robot, which is mainly driven by the motor directly drives the two chest fins or by dr...

AI Technical Summary

Problems solved by technology

[0006] In order to avoid the shortcomings of the prior art, the present invention proposes a manta ray imitation underwater soft robot based on a liquid dielectric driver, combining the advantages of the two driving methods Combining and improving the shortcomings of traditional motor drive noise, as well as improving the shortcomings of new drivers with low power and slow movement speed, which cannot be put into practical industrial use

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