The invention relates to an underwater super-redundant robotic sea eel which comprises a control bin, two flexible joints, a battery bin and a functional bin, the control bin is connected to one side of the battery bin through one flexible joint, the functional bin is connected to the other side of the battery bin through the other flexible joint, and the control bin and the functional bin both comprise propellers which are equal in number and are uniformly distributed. When the underwater super-redundant robotic sea eel is in a straightened state, each propeller of the control bin is provided with a connecting line of the propellers of the corresponding functional bin, the connecting line is parallel to the central axis of the underwater super-redundant robotic sea eel, and the propeller direction of each propeller of the control bin is opposite to the propeller direction of the adjacent propeller on the control bin and the propeller direction of the corresponding functional bin. Compared with the prior art, the robot has the advantages of multiple motion dimensions, small turning radius, high trafficability, high stability and the like.

    本发明涉及一种水下超冗余机器海鳗,包括控制仓、两个柔性关节、电池仓和功能仓,控制仓通过柔性关节连接到电池仓的一侧,功能仓通过另一个柔性关节连接到电池仓的另一侧,控制仓和功能仓均包括数量相等且均匀分布的推进器,水下超冗余机器海鳗在伸直状态下,控制仓的各个推进器均有一个对应的功能仓的推进器的连线与水下超冗余机器海鳗的中心轴平行,控制仓的各个推进器浆向与控制仓上相邻的推进器浆向及对应的功能仓的推进器浆向相反。与现有技术相比,本发明具有运动维度多、转弯半径小、通过性强、稳定性强等优点。


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    Titel :

    Underwater hyper-redundant robotic sea eel


    Weitere Titelangaben:

    一种水下超冗余机器海鳗


    Beteiligte:
    LYU FENG (Autor:in) / XU XIN (Autor:in) / HE BIN (Autor:in)

    Erscheinungsdatum :

    16.07.2024


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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    Li, Yingtian / Chen, Yonghua | British Library Conference Proceedings | 2015


    Design and construction of 9-DOF hyper-redundant robotic arm

    Xu, Xingsheng / Ananthanarayanan, Hariharan / Ordonez, Raul | IEEE | 2014




    An evolutionary approach for the motion planning of redundant and hyper-redundant manipulators

    Marcos, Maria da Graça / Machado, J. A. Tenreiro / Azevedo-Perdicoúlis, T. P. | BASE | 2010

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