Frog imitating swimming robot based on driving of joint type aerodynamic soft body actuator

A robot and actuator technology, applied in the field of robotics, can solve the problems of difficulty in achieving lightweight and miniaturization of machines, large resistance in the propulsion process, and reduced mobility of robots, so as to enhance environmental adaptability, ensure limb bearing capacity, light weight effect

Active Publication Date: 2018-06-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention solves the problem that the design of the body mechanism of the frog-like swimming robot in the prior art is mainly based on rigid materials, and its bearing capacity and motion precision are high, the structure is complex, the volume and weight are relatively large, and it is difficult to realize the lightweight and small size of the machine. The propulsion process is subject to greater resistance, which reduces the mobility of the robot during operation, and the sealing is not good, and the problem of water penetration is prone to occur. A frog-like swimming robot driven by joint-type pneumatic software actuators is provided.

Method used

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  • Frog imitating swimming robot based on driving of joint type aerodynamic soft body actuator
  • Frog imitating swimming robot based on driving of joint type aerodynamic soft body actuator
  • Frog imitating swimming robot based on driving of joint type aerodynamic soft body actuator

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1-Figure 8 Describe the present embodiment. The frog-like swimming robot driven by the articulated pneumatic soft actuator described in the present embodiment includes the main torso of the robot, the left forelimb of the robot, the right forelimb of the robot, the left hind limb of the robot, the right hind limb of the robot, Pneumatic system and electrical control system; the main torso of the robot includes a streamlined upper shell 1, a lower shell 2 and multiple main body buckles 6, and the streamlined upper shell 1 and lower shell 2 are sealed and installed through multiple main body buckles 6 In one body, the left forelimb of the robot and the right forelimb of the robot are installed symmetrically on both sides of the front end of the main torso of the robot, the left and right hind limbs of the robot are respectively installed symmetrically on both sides of the rear end of the main torso of the robot, and the pne...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination figure 1 Describe this embodiment, a frog-like swimming robot driven by joint-type pneumatic software actuators described in this embodiment, the left forelimb of the robot includes a left forelimb trunk connector 3-1, a left forelimb flipper 4-1 and a left forelimb Joint 5-1; robot right forelimb comprises right forelimb trunk connector 3-2, right forelimb flipper 4-2 and right forelimb joint 5-2; one end of left forelimb joint 5-1 is fixed by left forelimb trunk connector 3-1 Installed on the left side of the front end of the main torso of the robot, the other end of the left forelimb joint 5-1 is fixedly connected to one end of the left forelimb flipper 4-1, and one end of the right forelimb joint 5-2 is fixedly installed through the right forelimb trunk connector 3-2 On the right side of the main torso front end of the robot, the other end of the right forelimb joint 5-2 is fixedly connected with an end of the right fore...

specific Embodiment approach 3

[0024] Specific implementation mode three: combination Figure 1-Figure 5 Describe this embodiment, a frog-like swimming robot driven by an articulating pneumatic soft actuator described in this embodiment, the left hind limb of the robot includes a left hind limb trunk connector 7-1, a left hind limb hip joint 8-1, a left hind limb Hind limb thigh body 9-1, left hind limb knee joint 10-1, left hind limb calf body 11-1, left hind limb ankle joint 12-1, left hind limb moving fin 13-1-1 and left hind limb fixed fin 13-1-2 The right hind limb of the robot includes right hind limb torso connector 7-2, right hind limb hip joint 8-2, right hind limb thigh body 9-2, right hind limb knee joint 10-2, right hind limb calf body 11-2, right hind limb ankle joint 12-2, right hind limb movable flipper 13-2-1 and right hind limb fixed flipper 13-2-2; left hind limb hip joint 8-1, left hind limb knee joint 10-1, left hind limb ankle joint 12-1, right hind limb The hip joint 8-2, the right hi...

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Abstract

The invention provides a frog imitating swimming robot based on driving of a joint type aerodynamic soft body actuator, relates to a frog imitating swimming robot, and belongs to the field of robots.The frog imitating swimming robot solves the problems that in the prior art, the design of a body mechanism of a frog imitating swimming robot mainly uses a rigid material as the main material, the bearing capacity and movement precision are high, but the structure is complex, the size and the weight are too large, lightweight and miniaturization of a machine are difficult to realize, the appliedresistance in the propulsion process is large, the maneuverability of the robot in the running process is reduced, sealing performance is poor, and the water permeability phenomenon easily occurs. Thefrog imitating swimming robot comprises a robot main trunk, a robot left forelimb, a robot right forelimb, a robot left hind limb, a robot right hind limb, an aerodynamic system and an electric control system. The robot main trunk comprises a streamline upper shell, a lower shell and a plurality of main body trunk clamping buckles; and the aerodynamic system communicates with the robot left forelimb, the robot right forelimb, the robot left hind limb and the robot right hind limb.

Description

technical field [0001] The invention relates to a frog-imitating swimming robot, in particular to a frog-imitating swimming robot driven by a joint-type pneumatic soft actuator, which belongs to the field of robots. [0002] The invention relates to the field of bionic robots, especially the field of bionic swimming robots that move in a sliding propulsion mode. By using rigid, soft and soft materials, and adopting 3D printing, molding and bonding processing technologies, the body mechanism integrates rigid, flexible and soft materials. 1. The common characteristics of soft materials, that is, while ensuring sufficient carrying capacity and toughness, reducing the weight of the robot body, and enhancing the environmental adaptability of the robot, it makes the robot body structure more compact. Moreover, the streamlined shape of the main trunk and the one-way water pushing characteristic of the hindlimb flippers help reduce the movement resistance of the robot and improve the ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/00B25J11/00
Inventor 樊继壮于庆国杜启龙闫旭
Owner HARBIN INST OF TECH
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