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

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...

AI Technical Summary

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 stiffness of the fin rays cannot be actively adjusted, so the application environment of the prototype robot is limited. and athletic performance

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