A robot imitating golden jellyfish based on six-bar mechanism

Abstract

A simulation golden jellyfish robot based on a six-bar mechanism The robot comprises a servo motor, crank rocker mechanism, six bar linkage, tail unit and movable chassis, the servo motor comprising afirst servo motor and a second servo motor, A six-bar mechanism is driven by a crank rocker mechanism driven by a first servo motor, thereby controlling the forward behavior of the robot, the tail device is driven by a second servo motor to control the turning behavior of the robot, The crank-rocker mechanism comprises a crank, a connecting rod and a rocker, the rocker is connected with the movable chassis through a pin shaft, the six-bar mechanism comprises a frame, a first strut, a second strut, a third strut, a fourth strut and an L-bar, and the tail device comprises a tail frame, a movable fin, a connecting rod and a rotating frame. The simulation golden jellyfish robot has the characteristics of accurate speed and direction control, lightweight structure, flexible obstacle avoidanceand high propulsion efficiency, and is suitable for the fields of seafloor water resources exploration and seafloor exploration.

Description

technical field [0001] The invention relates to the field of bionic robots, in particular to a golden jellyfish imitation robot based on a six-bar mechanism. Background technique [0002] The golden jellyfish moves in the water with the help of water flow. Through the method of water jet propulsion, some special muscles expand and then quickly retract to expel the water in the body. Driven by the reaction of the water flow, it achieves forward swimming, turning and other propulsion behaviors. . [0003] Chinese patent 201410403982.9 discloses a robotic jellyfish driven by a built-in cylindrical servo motor. The jellyfish can achieve bionic propulsion in water through the hem and lift of the multi-joint arm, but the structure is complex, the stability is not high and it is difficult to control; Chinese patent 201510519863.4 discloses a jellyfish-type bionic robot. The robot adjusts the amount of water in and out through the water tank to achieve the purpose of floating and d...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent 201410403982.9 discloses a robotic jellyfish driven by a built-in cylindrical servo motor. The jellyfish can achieve bionic propulsion in water through the hem and lift of the multi-joint arm, but the structure is complex, the stability is not high and it is difficult to control; Chinese patent 201510519863.4 discloses a jellyfish-like bionic robot. The robot adjusts the amount of water in and out through the water tank to achieve the purpose of floating and diving. However, the propulsion efficiency of the robot is not high and the flexibility is low.

[0004] At present, there is no innovative design of an imitation golden jellyfish robot based on a six-bar mechanism with the characteristics of precise speed and direction control, lightweight structure, flexible obstacle avoidance and high propulsion efficiency.

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