A frog-like swimming leg employing an underactuated series software aerodynamic bending module

An under-actuated, soft technology, applied in the field of robotics, can solve the problems of poor waterproof sealing, large mass and volume, reduce the bearing capacity, simplify the production process, and avoid the effect of weak bonding and tearing

Active Publication Date: 2018-12-28
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems of large mass and volume and poor waterproof and sealing performance of the existing rigid structural frog-like swimming robot, the present invention further proposes a frog-like swimming leg using under-actuated series soft pneumatic bending modules

Method used

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  • A frog-like swimming leg employing an underactuated series software aerodynamic bending module
  • A frog-like swimming leg employing an underactuated series software aerodynamic bending module
  • A frog-like swimming leg employing an underactuated series software aerodynamic bending module

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specific Embodiment approach 1

[0017] Specific implementation mode one: combine Figure 1 to Figure 4 Describe this embodiment. The imitation frog swimming leg using underactuated serial soft pneumatic bending modules described in this embodiment includes a main trunk connector 1, a hip joint 2, a knee joint 3, an ankle joint 4, hindlimb fins, and an air guide The blocking head 6 and the sealing blocking head 7, the hip joint 2, the knee joint 3, and the ankle joint 4 are connected end-to-end in turn to form an air channel, the hip joint 2 is connected to the main body trunk connection component 1 through the air guiding blocking head 6, and the ankle joint 4 passes through The sealing blocking head 7 is connected with the hindlimb flipper. The hip joint 2, the knee joint 3, and the ankle joint 4 are connected end to end to form an air guiding passage, and the main body of the hind limb forms an S-shaped airtight cavity through the air guiding blocking head 6 and the sealing blocking head 7, and is connecte...

specific Embodiment approach 2

[0019] Specific implementation mode two: combination Figure 1 to Figure 4 Describe this embodiment. The hip joint 2, knee joint 3, and ankle joint 4 of a frog-like swimming leg using underactuated serial soft pneumatic bending modules in this embodiment are all soft pneumatic one-way bending modules, and the three modules Connected in series to form the rear limb drive structure. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0020] Specific implementation mode three: combination Figure 1 to Figure 4 Describe this embodiment, the hip joint 2 of the imitation frog swimming leg adopting the underactuated serial soft pneumatic bending module described in this embodiment is composed of the hip joint elastic matrix 2-1, the hip joint strain limiting layer 2-2 and the hip joint Composed of fiber lines 2-3, the hip joint fiber lines 2-3 are spirally wound on the hip joint elastic matrix 2-1, and the hip joint fiber lines 2-3 are pasted on the hip joint elastic matrix 2-1, the hip joint strain The restrictive layer 2-2 is pasted on the outer arc surface of the elastic substrate 2-1 of the hip joint. The outer circle of the fiber line is sparse and the inner circle is dense. Other components and connections are the same as those in the first embodiment.

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Abstract

The invention relates to a frog-like swimming leg adopting an under-driven series software aerodynamic bending module, which relates to a frog-like swimming leg, in particular to a frog-like swimmingleg adopting an under-driven series software aerodynamic bending module. The invention aims at solving the problems that the mass volume of the existing rigid structure frog-like swimming robot is onthe large side and the waterproof and sealing performance is poor. The invention comprises a main torso connecting piece, a hip joint, a knee joint, an ankle joint, a hind limb webbing, an air guide blocking head and a sealing blocking head, the hip joint, the knee joint and the ankle joint are sequentially connected into an air guide channel, the hip joint is connected with the main torso connecting assembly through the air guide blocking head, and the ankle joint is connected with the hind limb webbing through the sealing blocking head. The invention belongs to the field of robots.

Description

technical field [0001] The invention relates to a frog-like swimming leg, in particular to a frog-like swimming leg using an under-actuated serial soft pneumatic bending module, which belongs to the field of robots. Background technique [0002] With the development of science and technology such as bionics, new materials, and robots, facing the increasing demand for exploration and survey of waters such as rivers and lakes, relevant researchers have carried out many bionic researches on different swimming organisms. As a kind of amphibious creature, frog can realize amphibious movement on land and water. It adopts the underwater propulsion method of leg structure and has strong environmental adaptability and mobility. Therefore, the study of bionic frog robot is not only an important research in the field of new bionics It also has good application prospects in civil or military search and rescue, survey monitoring and camouflage detection. [0003] The existing frog-like ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63H1/30
CPCB63H1/30
Inventor 樊继壮于庆国杜启龙
Owner HARBIN INST OF TECH
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