Eel-imitating robot based on electromagnetic artificial muscles and working method thereof

Abstract

The invention provides an eel-imitating robot based on electromagnetic artificial muscles and a working method thereof. The eel-imitating robot comprises a robot head, a robot tail and a robot skeleton formed by connecting a plurality of joints in series, wherein the robot head and the robot tail have the same structure and are symmetrically installed at the two ends of the robot skeleton correspondingly, each joint of the robot skeleton comprises a rear rib, a first right electromagnetic muscle, a front rib, a front spine, a hinge pin, a first left electromagnetic muscle and a rear spine, every two adjacent joints of the robot skeleton are connected in series by sharing the same corresponding rib, the robot head comprises a second right electromagnetic muscle, an auxiliary electromagneticmuscle, a second left electromagnetic muscle and a head rib, all the electromagnetic muscles are the same in structure, each electromagnetic muscle comprises two electromagnets, magnetic conductive rubber and magnetic liquid, and the eel-imitating robot can swim through the coordinated action of the plurality of joints as well as all the electromagnetic muscles at the robot head and the robot tail. The robot is high in maneuverability and can be used in places with narrow spaces and complex structures.

Description

technical field [0001] The invention belongs to the field of bionic machinery, in particular to an eel-like robot based on electromagnetic artificial muscles and a working method thereof. Background technique [0002] The underwater robot in the eel-like propulsion mode consumes the least energy per unit distance, and its flexible body is conducive to movement and operation in narrow spaces. The eel-like robot participates in large-amplitude wave motion from head to tail. The wave propagation direction of the fish body is opposite to the swimming direction of the robot fish, and the wave speed is greater than the forward swimming speed of the robot fish. The least energy. In addition, the eel mode also has the ability to swim backwards more stably. Due to the soft body of the robot fish in the eel mode, the robot fish is more stable in the process of swimming backwards, and the body adjustment in small pipes and some special environments is also more comfortable. [0003] ...

AI Technical Summary

Problems solved by technology

[0003] Existing eel-like robots have traditional propellers that are noisy and disturb the environment, making it difficult for underwater equipment to get close to marine organisms; they consume a lot of energy, are not flexible, and are not easy to enter complex marine environments, such as shipwrecks, coral reefs, etc.

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