Active variable stiffness pectoral fin based on nylon artificial muscles and bionic underwater robot

A technology of artificial muscles and variable stiffness, which is applied to underwater operation equipment, manipulators, manufacturing tools, etc., can solve the problems of difficulty in adapting to complex underwater environments, single movement mode of pectoral fins, and heavy weight of bionic pectoral fins. Response frequency, reduced complexity and weight effects

Active Publication Date: 2020-09-22
XI AN JIAOTONG UNIV
View PDF10 Cites 4 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This type of bionic pectoral fin has a relatively heavy weight and a relatively complex structure. Due to structural limitations, the spanwise and chord stiffness of the rigid

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Active variable stiffness pectoral fin based on nylon artificial muscles and bionic underwater robot
  • Active variable stiffness pectoral fin based on nylon artificial muscles and bionic underwater robot
  • Active variable stiffness pectoral fin based on nylon artificial muscles and bionic underwater robot

Examples

Experimental program
Comparison scheme
Effect test

Example Embodiment

[0048] Examples:

[0049] The fin surface of the flexible pectoral fin is made of M4601 silica gel with a Shore hardness of 28A through a mold. The flexible fin surface is divided into an upper part and a lower part. The upper flexible fin surface is bonded to the front and middle fin ray by WACKER E41 glue, and the lower flexible fin surface is bonded to the middle and tail fin ray. The thickness of the fin surface is 2mm.

[0050] The three flexible fins are made of PA12 nylon material by 3D printing; the leading edge fins form a 15-degree angle with the horizontal line, and their length is 300mm. The middle fin is level and 250mm in length. The length of the tail fin is 80mm. The thickness of all fins gradually transitioned from 5mm at the root to 2mm at the tip. Because the thickness gradient on the fin ray presents a distribution of inner thickness and outer thinness, the pectoral fin as a whole has a smaller outer stiffness and a larger inner stiffness along the span dir...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

PUM

PropertyMeasurementUnit
Diameteraaaaaaaaaa
Lengthaaaaaaaaaa
Login to view more

Abstract

The invention discloses an active variable stiffness pectoral fin based on nylon artificial muscles and a bionic underwater robot. The active variable stiffness pectoral fin comprises a front edge finray, a middle fin ray and a tail fin ray which are sequentially arranged; a front flexible fin surface is arranged between the middle fin ray and the front edge fin ray; a tail flexible fin surface is arranged between the middle fin ray and the tail fin ray; a plurality of through holes are formed in the front flexible fin surface and the tail flexible fin surface in the direction perpendicular to the middle fin ray; a nylon artificial muscle is arranged in each through hole, the nylon artificial muscle in the front flexible fin surface is connected to the front edge fin ray and the middle fin ray, and the nylon artificial muscle in the tail flexible fin surface is connected to the middle fin ray and the tail fin ray. A biological active variable stiffness mechanism is fully utilized, active continuous regulation and control of pectoral fin stiffness are achieved by simulating a muscle relaxation or contraction state similar to a biological state through nylon artificial muscles, andthe fluctuation amplitude and the fluctuation number of propelling waves during pectoral fin flapping are adjusted.

Description

【Technical field】 [0001] The invention belongs to the technical field of underwater robots, and relates to an active variable stiffness pectoral fin based on nylon artificial muscles and a bionic underwater robot. 【Background technique】 [0002] Underwater unmanned detectors have been widely used in tasks such as acquisition of ocean / submarine environment information, fixed / moving target detection, identification, positioning and tracking, and regional alert. At present, the existing underwater unmanned thrusters are limited by the traditional propeller propulsion method, which has high working noise, large environmental disturbances, difficulty in changing the navigation attitude flexibly, and poor obstacle avoidance performance. [0003] The shape and movement rules of fish are undoubtedly the most suitable for the underwater environment. The extraordinary swimming ability of fish is beyond the reach of traditional underwater propellers. Bionic underwater detection robots...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to view more

Application Information

Patent Timeline
no application Login to view more
IPC IPC(8): B63C11/52B63H1/36B63H25/26B25J11/00
CPCB25J11/00B63C11/52B63H1/36B63H25/26
Inventor 张进华郭松子李宝童成海炎杨雨寒李秋阳
Owner XI AN JIAOTONG UNIV
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Try Eureka
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap