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Multi-section under-actuated bionic eel robot

A bionic eel and robot technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of low energy conversion efficiency, limited control of the drive section, and long software length, etc., to achieve high energy conversion rate, high flexibility, The effect of improving swimming efficiency

Active Publication Date: 2022-06-24
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing bionic robot eels mainly have the following disadvantages: first, the control of the eel body is realized by means of multi-motor control, and there is a problem of low energy conversion efficiency; Limited, it is difficult to simulate the waveform transmission when eels swim

Method used

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  • Multi-section under-actuated bionic eel robot
  • Multi-section under-actuated bionic eel robot
  • Multi-section under-actuated bionic eel robot

Examples

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Embodiment Construction

[0026] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

[0027] In the description of the present invention, it should be understood that the orientation description, such as up, down, front, rear, left, right, inside, outside, etc., indicates the orientation or position relationship is based on the orientation or position shown in the drawings The relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orie...

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Abstract

The multi-section under-actuated bionic eel robot comprises at least two traction sections and at least two follow-up sections, the traction sections comprise the first traction section and the second traction section, the follow-up sections comprise the middle follow-up section and the tail follow-up section, and the first traction section, the middle follow-up section, the second traction section and the tail follow-up section are sequentially connected. Through a multi-section under-actuated structure of two traction sections and two follow-up sections, the waveform transmission and swimming gaits of real eels can be better simulated; the single swing mechanism can control the traction section and the follow-up section, and the energy conversion rate is high; the follow-up section can balance the external force of water, the swimming efficiency is improved, and the flexibility is high.

Description

technical field [0001] The invention relates to the field of underwater robots, in particular to a multi-stage underactuated bionic eel robot. Background technique [0002] As a class of robots, underwater robots can operate in depths and breadths that are difficult for humans to reach. Using underwater robots can easily achieve underwater work such as water quality testing and environmental exploration. The bionic robotic fish is designed with reference to the biological structure and dynamic principles of real fish, so the swimming in water can be more natural and controlled by the principles of fluid mechanics. The superior maneuverability and stability are traditionally based on Unmatched by propeller-driven underwater robots. Therefore, the bionic robotic fish has important research value and broad application prospects in underwater exploration and development both in the economic field and in the military field. For the bionic robotic eel, the small and flexible bod...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00B25J9/06B25J9/16
CPCB25J11/00B25J9/065B25J9/1664B25J9/1625
Inventor 钟勇王其鑫
Owner SOUTH CHINA UNIV OF TECH