Pneumatically-driven stingray-like fluctuation propulsion soft robot and manufacturing method thereof

A technology of undulating propulsion and pneumatic drive, applied in the direction of non-rotating propulsion elements, additive manufacturing, manufacturing tools, etc., can solve the problem that the stiffness of fin rays cannot be adjusted actively, and rigid fin rays cannot achieve large deformation of the body flexibility, which limits the application of prototype robots Environmental and sports performance and other issues, to achieve the effect of compact structure, light weight and low noise

Active Publication Date: 2020-09-22
XI AN JIAOTONG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

To sum up, the rigid fin rays involved in the prior art cannot realize the flexible "big deformation" of the fish-like body when swimming, and the

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  • Pneumatically-driven stingray-like fluctuation propulsion soft robot and manufacturing method thereof
  • Pneumatically-driven stingray-like fluctuation propulsion soft robot and manufacturing method thereof

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[0032] In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only The embodiments are part of the present invention, not all of the embodiments, and are not intended to limit the scope of the present disclosure. Furthermore, in the following description, descriptions of well-known structures and techniques are omitted to avoid unnecessarily obscuring the concepts disclosed in the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Various structural schematic diagrams according to the disclosed embodiments ...

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Abstract

The invention discloses a pneumatically-driven stingray-like fluctuation propulsion soft robot and a manufacturing method thereof. The soft robot is composed of a fin ray mounting framework, a flexible pectoral fin and a plurality of flexible air pipes. The whole robot is made of flexible materials except the fin ray mounting framework. The flexible pectoral fin is composed of driving fin rays anda flexible fin face, wherein the driving fin rays are arranged on the disc-shaped flexible fin face in a radial mode. Each driving fin ray is provided with an upper air cavity and a lower air cavity;the rigidity of the driving fin ray can be adjusted through the internal air pressure value; the top of the driving fin ray is connected to a blocking air cavity, and the outer side rigidity can be adjusted and controlled. The fishes propelled in a fluctuating manner have good maneuverability and concealment, a stable and flexible motion state can be kept in a complex working environment, the design of an underwater propeller for simulating fluctuation propulsion becomes a research hotspot, the stingray serves as a bionic object, and a new thought is provided for the design of the underwaterpropeller through deep bionics in the geometric and physical aspects.

Description

【Technical field】 [0001] The invention belongs to the technical field of underwater robots, and relates to a pneumatically driven stingray imitation wave propulsion soft robot and a manufacturing method thereof. 【Background technique】 [0002] The current designs of underwater propellers are mostly conventional propellers using propellers and impellers, and the driving methods are mostly electromagnetic motors or hydraulic motors. In addition to the advantages of simple design, these propellers also have many disadvantages that cannot be ignored. Disadvantages, such as high noise, large disturbance, low energy utilization rate, heavy structural weight, etc. In addition, there are many limitations in the motion performance of traditional underwater propulsion, such as weak start-up acceleration performance, motion flexibility, controllable These problems have caused the current conditions of use of underwater propulsion equipment to be limited. Underwater organisms have alwa...

Claims

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Application Information

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IPC IPC(8): B63H1/30B29C39/02B29C64/124B33Y10/00
CPCB29C39/025B29L2031/3067B63H1/30B33Y10/00B29C64/124
Inventor 张进华郭松子李宝童成海炎杨雨寒李秋阳
Owner XI AN JIAOTONG UNIV
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