Three-dimensional barycenter adjusting device for robot jellyfish

Abstract

The invention belongs to the field of an underwater robot and specifically provides a three-dimensional barycenter adjusting device for a robot jellyfish. The invention aims to solve the problem that the barycenter adjusting structure in the prior art cannot realize the three-dimensional free adjustment for barycenter. The three-dimensional barycenter adjusting device for the robot jellyfish provided by the invention comprises a guide rail, two cantilevers and two counterweights, wherein one ends of the cantilevers are mounted on the guide rail in a sliding form; the cantilevers can freely rotate around the guide rail; the other ends of the cantilevers are fixedly connected with the counterweights. The guide rail is driven by the driving device to realize the actions, so that the three-dimensional barycenter adjusting device for the robot jellyfish provided by the invention can randomly change the position of the barycenter in the three-dimensional space.

Description

technical field [0001] The invention belongs to the field of underwater robots, and specifically provides a three-dimensional gravity center adjustment device for robotic jellyfish. Background technique [0002] In the prior art, most of the underwater robots realize the change of their postures through external pushing mechanisms. However, this method cannot achieve precise control of the underwater robot's own attitude, nor can it perform fine operations. Therefore, it is necessary to design a three-dimensional center-of-gravity adjustment mechanism. The structure of the existing center of gravity adjustment mechanism is very simple, that is, the center of gravity adjustment is realized by installing one or two counterweights on a guide rail, the adjustment ability is very limited, and the free change of the center of gravity on the three-dimensional closed surface cannot really be realized. [0003] Correspondingly, a new center-of-gravity adjustment mechanism is needed...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the above-mentioned problems in the prior art, that is, in order to solve the problem that the center of gravity adjustment structure in the prior art cannot realize the three-dimensional free adjustment of the center of gravity, the present invention provides a three-dimensional center of gravity adjustment device for robotic jellyfish, the three-dimensional center of gravity adjustment The device comprises a guide rail, at least two cantilever arms and at least two counterweights, one end of the cantilever is slidably connected to the guide rail, the other end of the cantilever is connected to the counterweight, and the cantilever can rotate around The guide rail extends in the direction of sliding

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