Eel-like robot based on electromagnetic artificial muscle and its working method

A technology of artificial muscles and working methods, applied in the field of bionic machinery, can solve the problems of environmental interference, inflexibility, loud propeller noise, etc., and achieve the effects of stable backward swimming ability, long working time and high mobility
CN111360801BInactive Publication Date: 2021-04-27HARBIN ENG UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
HARBIN ENG UNIV
Publication Date
2021-04-27
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention provides an eel-like robot based on electromagnetic artificial muscles and its working method. The eel-like robot includes a robot head, a robot tail and a robot skeleton composed of several joints connected in series. The robot head and the robot tail have the same structure and are symmetrical. Installed at both ends of the robot skeleton; each joint of the robot skeleton includes the rear ribs, the first right electromagnetic muscle, the front ribs, the front spine, the pin shaft, the first left electromagnetic muscle and the rear spine; between two adjacent joints of the robot skeleton They are connected in series by sharing the same rib; the head of the robot includes the second right electromagnetic muscle, auxiliary electromagnetic muscle, second left electromagnetic muscle and head ribs; all the electromagnetic muscles have the same structure, including two electromagnets, magnetically conductive rubber and magnetic liquid; the swimming of the eel-like robot is realized through the coordinated actions of multiple joints and the electromagnetic muscles at the head and tail of the robot. The invention has high maneuverability and can be used in places with narrow spaces and complex structures.
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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] ...

Claims

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