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All-soft underwater robot driven by chemical exergonic reaction and experimental platform thereof

An underwater robot, energy-releasing reaction technology, applied in underwater operation equipment, fluid dynamics test, testing of machine/structural components, etc. The effect of fast, high average speed and low energy consumption

Active Publication Date: 2019-01-04
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[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

Method used

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  • All-soft underwater robot driven by chemical exergonic reaction and experimental platform thereof
  • All-soft underwater robot driven by chemical exergonic reaction and experimental platform thereof
  • All-soft underwater robot driven by chemical exergonic reaction and experimental platform thereof

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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings.

[0027] As shown in the figure, a fully soft underwater robot driven by a chemical release energy reaction includes a body, which includes a variable stiffness head 801, a variable stiffness body 804, and an arc-shaped tail 805 connected in sequence, and the variable stiffness head 801 is provided with The trachea interface 802, the variable stiffness body 804 is provided with flexible wings 803, and the arc-shaped tail 805 is provided with injection holes 811 and transmission holes 812;

[0028] The interior of the main body includes a reaction chamber 806, a flexible driving membrane 807 and a water storage and injection chamber 809 connected in sequence. The flexible driving membrane 807 is provided with a flexible joint 808, and the flexible joint 808 is provided with a flexible bone 810 to connect with the flexible wing 803.

[0029] As a preferred structure, the i...

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Abstract

The invention belongs to the technical field of soft underwater robots and particularly relates to an all-soft underwater robot driven by chemical exergonic reaction and an experimental platform thereof. The all-soft underwater robot is characterized in that an underwater robot body includes a variable stiffness head, a variable stiffness body and an arc tail which are connected in sequence, the variable stiffness head is provided with an air pipe connection, the variable stiffness body is provided with flexible wings, the arc tail is provided with a spray hole and a transmission hole, a reaction chamber, a flexible drive film and a water-storing spray chamber which are connected in sequence are included in the underwater robot body, the flexible drive film is provided with a flexible joint, and the flexible joint is provided with flexible bones connected with the flexible wings. Compared with the prior art, the all-soft underwater robot has very high speed of chemical exergonic reaction, output large force and can recover quickly, and the chemical exergonic reaction as a driving method to the all-soft underwater robot can combine with the specific soft-material robot structure such that the industry problems are solved, such as transient speed change of underwater equipment to avoid obstacles, transient speed 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 driven by a chemical release energy reaction and an experimental platform thereof. 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...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52G01M10/00
CPCB63C11/52G01M10/00
Inventor 贺治国杨旸胡鹏宋伟楼映中沈辉
Owner ZHEJIANG UNIV
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