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Moving method for hybrid-driven jellyfish-simulating amphibious robot

A robot and jellyfish-like technology, applied in the field of robots, can solve the problems of limited driving force, easy to roll over, and the overall structure is not stable enough, and achieve the effects of low manufacturing cost, easy maintenance and simple structure

Active Publication Date: 2012-11-28
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It provides a bionic robot fish with small size, flexible movement and ultra-low noise, but its small thrust characteristics limit its movement to still water environment
Among them, IEEE published a paper "A Novel Jellyfish-like Biomimetic Microrobot" on July 2010, Volume 13, Issue 15, Page 277-281, which proposed a jellyfish-like robot driven by a shape memory alloy (SMA). However, the SMA used as power is single, with limited driving force and is easily disturbed by the external environment. The lack of driving force limits the flexibility of the robot's movement, and the overall structure is not stable enough, and it is easy to roll over in water.

Method used

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  • Moving method for hybrid-driven jellyfish-simulating amphibious robot
  • Moving method for hybrid-driven jellyfish-simulating amphibious robot
  • Moving method for hybrid-driven jellyfish-simulating amphibious robot

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Embodiment Construction

[0041] The present invention will be further described below in conjunction with accompanying drawing and specific embodiment:

[0042] The following is the umbrella-shaped driving structure of the main body of the imitation jellyfish amphibious robot, which is driven by SMA springs. It is mainly composed of a casing 1, a transmission mechanism 2, a driving mechanism 3, and elastic legs 4. The shell 1 is mainly composed of a flexible hemispherical shell 11, a swing plate 12, and a support rod 13; the transmission mechanism 2 is composed of twelve connecting rods, and the connecting rods are connected by rivets, wherein the connecting rods 23 and the swing plate 12 are fixed even. The drive mechanism 3 is made up of a slider 31 , a first disc 33 , a second disc 32 , an SMA spring set 34 , a return spring 35 , a central rod 36 , a first fixed block 38 , and a second fixed block 37 . Each disc is equipped with a metal ring inside, and the material of the disc is plastic, and two ...

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Abstract

The invention relates to a moving method for a hybrid-driven jellyfish-simulating amphibious robot and belongs to the technical field of a bionic hybrid-moving robot. The robot is composed of a driving mechanism (3), a transmission mechanism (2), a shell (1) and an elastic leg (4). The moving method comprises the steps of performing diving and floating motion; performing veering motion; controlling the speed; and walking underwater or on the land. According to the moving method, the motion modes are various, and the whole structure is stable and is difficult to turn on one side during the whole moving process.

Description

technical field [0001] The invention relates to a bionic and composite motion robot, specifically a motion method of a jellyfish-imitating amphibious robot. Background technique [0002] With the growth of marine development demands and the advancement of technology, underwater robots with various specific functions have developed rapidly. Among them, the imitation jellyfish robot has unique development potential. The water jet propulsion method of the jellyfish body is simple and reliable, and is easy to realize with composite materials. The imitation jellyfish robot has the characteristics of high efficiency, good maneuverability, low noise, and little disturbance to the environment. It has important application prospects in marine investigation, environmental detection and military fields. Some existing jellyfish-like robots have been able to reduce noise and achieve better movement flexibility, but their ability to adapt to complex marine environments, especially the ab...

Claims

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Application Information

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IPC IPC(8): B60F3/00
Inventor 蒋素荣陈柏冯安洋夏欣一吴洪涛崔静
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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