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Jellyfish imitation robot and control method thereof

A robot and jellyfish technology, applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., can solve problems such as high cost, difficult control, complex structure, etc.

Active Publication Date: 2013-09-04
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, the current jellyfish-like robot has a complex structure, high cost and is difficult to control when swimming.

Method used

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  • Jellyfish imitation robot and control method thereof
  • Jellyfish imitation robot and control method thereof
  • Jellyfish imitation robot and control method thereof

Examples

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Embodiment Construction

[0016] Below in conjunction with accompanying drawing and specific embodiment, further illustrate the present invention, should understand that following specific embodiment is only for illustrating the present invention and is not intended to limit the scope of the present invention, after having read the present invention, those skilled in the art will understand the present invention Modifications in various equivalent forms fall within the scope defined by the appended claims of the present application.

[0017] Please combine Figure 1 to Figure 3 As shown, the present invention discloses a jellyfish-like robot, which includes a longitudinally long main body 1 , a head mounted on the front end of the main body 1 and a tail fin mounted on the tail end of the main body 1 . The head includes a hemispherical flexible shell 2 and a number of elastic pull rods 3 supported inside the hemispherical flexible shell 2 . The hemispherical flexible shell 2 forms an open umbrella shap...

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Abstract

The invention discloses a jellyfish imitation robot and a control method of the jellyfish imitation robot. The jellyfish imitation robot comprises a hemispherical soft shell, a plurality of elastic pull rods, a plurality of shape memory alloy wires and a tail fin, wherein the elastic pull rods are supported on the inner side of the hemispherical soft shell. The tail fin comprises tail fin rings and fin plates, wherein the fin plates stretch out from the tail fin rings. One ends of the shape memory alloy wires are connected with connecting parts of the elastic pull rods, and the other ends of the shape memory alloy wires are connected with the tail fin rings. Shrinkage or stretching of the shape memory alloy wires is controlled to enable the hemispherical soft shell to shrink or stretch to acquire power and steering of the jellyfish imitation robot, the jellyfish imitation effect is generated, and then the jellyfish imitation robot moves, and the shape memory alloy wires drive the tail fin to deflect to achieve steering. The jellyfish imitation robot is simple in structure and easy to control.

Description

technical field [0001] The invention relates to people in the field of machines, in particular to a bionic robot and a control method thereof. Background technique [0002] With the needs of marine protection and underwater reconnaissance, people pay more and more attention to underwater robots. These robots will show their talents in underwater reconnaissance, surveillance of ships and submarines, detection of chemical spills, and monitoring of fish migration. . Jellyfish is an ideal invertebrate, relying on muscle fibers to control the contraction and expansion of the inner cavity to inhale and eject water flow, thereby generating thrust to move the jellyfish along the axial direction of the body. At present, it has received high attention as a bionic object at home and abroad. However, the current imitation jellyfish robot has a complex structure, high cost and is difficult to control when swimming. [0003] Therefore, a new technical solution is needed to solve the ab...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/16
Inventor 陈柏崔静吴平平戴昕林冯安洋吴洪涛蒋素荣
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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