Experimental platform of all-soft underwater robot driven by chemical exergonic reaction
A technology of underwater robot and energy release reaction, which is applied in the direction of underwater operation equipment, testing of machines/structural components, instruments, etc., can solve the problems of rapid explosion process and extremely difficult coupling, and achieve fast response time and average The effect of high speed and low noise
Active Publication Date: 2019-01-04
ZHEJIANG UNIV
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[0003] The chemical discharge energy reaction was proposed by Harvard University in 2014 as a driving method for soft robots. The advantages of the chemical discharge energy reaction are its extremely fast response speed, large output force and rapid recovery. The coupling of soft materials creates great difficulty
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[0024] Such as figure 1 , figure 2 and image 3 As shown, a fully soft underwater robot experimental platform driven by a chemical discharge energy reaction, including a chemical energy reaction drive device, a full soft water tank 7, an optical shockproof experimental platform 9 and a full soft underwater robot 8, is characterized in that: The chemical energy reaction driving device includes: a fuel gas cylinder 101, an auxiliary gas cylinder 102, a flow valve 3, a one-way valve 4, a confluence flame arrester 5, a fluid-pulse composite pipe 6 and a pulse excitation device 13, and the fuel gas cylinder 101 and Gas cylinders 102 are provided with pressure regulating valves 2 and are connected to flow valves 3 through air pipes. The flow valves 3 are provided with two outlets, and check valves 4 are arranged on the two outlet pipelines. The outlet pipeline of the valve 4 and the pulse excitation device 13 are connected to the confluence flame arrester 5, and the confluence fl...
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The invention belongs to the technical field of soft underwater robots and particularly relates to an experimental platform of an all-soft underwater robot driven by chemical exergonic reaction. The experimental platform comprises a chemical energy reaction driver, an all-soft underwater robot, a water tank and an optical anti-vibration experimental platform, and is characterized in that a gas source is composed of a fuel gas cylinder and a combustion-supporting gas cylinder, both the fuel gas cylinder and the combustion-supporting gas cylinder are provided with a pressure adjusting valve andare connected with a flow valve via a gas pipe, the flow valve is provided with two outlets connected with a one-way valve, and both the one-way valve and a pulse exciting device are connected with acollector fire barrier. Compared with the prior art, the experimental platform has the advantages that chemical exergonic reaction has very high response speed, large force is output, and recovery isfast; the chemical exergonic reaction serving as a driving method to the soft underwater robot can combine with specific soft-material robot structure such that industry problems are solved, such as transient speed change of underwater equipment to avoid obstacles, transient speed change for striking, and quick startup.
Description
technical field [0001] The invention belongs to the technical field of underwater soft robots, and in particular relates to a fully soft underwater robot experimental platform driven by a chemical release energy reaction. Background technique [0002] The application of soft robots made of all soft materials is of great significance in the soft robot industry. The advantages of all-soft robots lie in their light weight, high degree of freedom, and strong anti-reconnaissance capabilities. However, all-soft robots are more difficult to design and manufacture because of the strong nonlinearity of material deformation and the lack of driving methods. The world's first all-soft robot was proposed by Harvard University in 2016, which provided an important research branch for the field of soft robotics. However, the existing all-soft robots in the world have slow response speed, small output force and small range of motion. question. [0003] The chemical discharge energy reactio...
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Login to View More IPC IPC(8): B63C11/52G01M99/00
CPCB63C11/52G01M99/005
Inventor 杨旸贺治国朱瑞陈敬瑶沈辉
Owner ZHEJIANG UNIV