A telescopic type hyper-redundance series-parallel connection variable stiffness swinging and propelling device comprises a head portion, a redundant drive parallel connection mechanism and a tail fin, and the redundant drive parallel connection mechanism comprises a plate spring spine, supporting legs, flexible hinges, a first stage parallel connection mechanism upper platform, a first stage parallel connection mechanism lower platform, a second stage parallel connection mechanism upper platform, a second stage parallel connection mechanism lower platform, a third stage parallel connection mechanism upper platform, a third stage parallel connection mechanism lower platform, a fourth stage parallel connection mechanism upper platform, a fifth stage parallel connection mechanism upper platform, a sixth parallel connection mechanism upper platform and a seventh parallel connection mechanism upper platform; the center of each platform is fixedly connected with the plate spring spine; the eight flexible hinges are uniformly distributed on each platform, and the flexible hinges of the upper platform and the flexible hinges of the corresponding lower platform are connected with the supporting legs; the first stage parallel connection mechanism and the fourth stage parallel connection mechanism form a first set of parallel connection mechanism, the second stage parallel connection mechanism, the fifth stage parallel connection mechanism and the seventh parallel connection mechanism form a second set of parallel connection mechanism, the third parallel connection mechanism and the sixth parallel connection mechanism form a third set of parallel connection mechanism, and the three sets of parallel connection mechanisms are staggered with one another and telescoped. The device has the advantages of being high in thrust, continuous in movement and good in flexibility.
Telescopic type hyper-redundance series-parallel connection variable stiffness swinging and propelling device
2015-07-22
Patent
Electronic Resource
English
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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