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Multi-degree-of-freedom bionic jellyfish robot

A technology of robot and degree of freedom, applied in the field of bionic robots, can solve the problems of task execution troubles, disturbing underwater creatures, and inflexible operation, and achieve the best movement flexibility, simplified structure, and flexible operation.

Active Publication Date: 2018-10-02
NANJING UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0004] The technical problem solved by the present invention is to provide a multi-degree-of-freedom bionic jellyfish robot to solve the problem that the existing paddle-type propulsion robot is not flexible enough to operate due to its low degree of freedom, and it is easy to disturb the underwater organisms. Many troublesome problems to meet the task requirements of convenient underwater operations

Method used

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Embodiment approach

[0027] As an implementation, the first drive mechanism includes a first linear screw stepper motor 105, a first screw nut 106, a first nut sleeve 107, and a first linear guide rail 109; the first linear The screw stepper motor 105 is fixed in the matrix 100; the first screw nut 106 is connected to the screw shaft of the first linear screw stepper motor 105, and the two form a screw pair; the first nut cover 107 is fixed Outside the first screw nut 106; the first nut cover 107 is provided with two guide holes, and a first linear guide rail 109 is respectively arranged in the two guide holes; two ends of the first linear guide rail 109 respectively fixedly connected with the fixed seat 102; the axial direction of the first linear guide rail 109 is parallel to the axial direction of the screw axis of the first linear screw stepping motor; one end of the first connecting rod 110 is connected to the first Nut sets 107 are connected. The first linear screw stepping motor 105 drives...

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Abstract

The invention discloses a multi-degree-of-freedom bionic jellyfish robot. The multi-degree-of-freedom bionic jellyfish robot comprises a basal body, four mechanical arms and a biological film; the four mechanical arms are symmetrically mounted in the peripheral direction of the basal body; the basal body and the mechanical arms are wrapped by the biological film, and air is filled inside for adjusting buoyancy suffered by mechanical jellyfishes in water; the mechanical arms comprise two sections of large arms and small arms; the upper ends of the large arms are connected with the basal body, and the lower ends are connected to the upper ends of the small arms; and degrees of freedom are arranged according to human arm joints: the large arms are rotated left and right; the large arm swing up and down; the small arms swing up and down; and the small arms are rotated by multiple degrees of freedom. The robot has a biological simulating form, and is multiple in degree of freedom, flexiblein operation and high in adaptability.

Description

technical field [0001] The invention belongs to the field of bionic robots, in particular to a multi-degree-of-freedom bionic jellyfish robot. Background technique [0002] Bionic robot is a branch of robotics, which generally refers to a robot that has the shape or structure of a creature and replaces a human or ordinary robot to complete tasks such as surveying and detection. With the continuous development of science and technology, robots, as one of the greatest inventions of human beings, are penetrating into many fields of human activities such as military affairs, entertainment, and services at an astonishing speed. , can operate like living things that humans or ordinary robots cannot reach, and there are thousands of kinds of living things, so its research space is also very broad. [0003] Since most underwater robots or submersibles use paddle propulsion, the traveling speed is fast, but most of the degrees of freedom are low, only 1 or 2 degrees of freedom, whic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/12
CPCB25J9/00B25J9/0009B25J9/12
Inventor 张龙闫兴坤薛昂
Owner NANJING UNIV OF SCI & TECH
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