The invention discloses a bionic manta ray based on SMA wire driving, which belongs to the technical field of underwater bionic robots. A pectoral fin driving mechanism comprises a control bin, a circuit board and at least six pectoral fin driving units, and each pectoral fin driving unit comprises a PVC flexible board, a base body and two SMA wires; SMA wires are fixed to the upper surface and the lower surface of each PVC flexible board in the length direction of the PVC flexible board respectively; an upper shell and a lower shell are both flexible rubber shells and are both flat, the control bin is fixed to the middle of the upper surface of the lower shell, the circuit board is fixed in the control bin, at least three pectoral fin driving units are symmetrically arranged on the left side and the right side of the control bin, and the base body of each pectoral fin driving unit is detachably and fixedly connected with the side wall of the control bin; each SMA wire is connected with the circuit board through a wire, each base body is detachably and fixedly connected with one end of a PVC flexible board, and the upper shell and the lower shell are connected in a sealed mode. According to the invention, the SMA wires are adopted for driving, and the soft material shell is additionally arranged, so that the bionic manta ray has better flexibility, and imitation of the manta ray is better achieved.

    一种基于SMA丝驱动的仿生蝠鲼,属于水下仿生机器人技术领域。胸鳍驱动机构包括控制仓、电路板及至少六个胸鳍驱动单元,每个胸鳍驱动单元均包括PVC柔性板、基体及两根SMA丝;PVC柔性板的上下表面沿其长度方向各固定有一根SMA丝;上、下壳体均为软胶壳体,且均为扁平状,下壳体上表面中部固定有控制仓,电路板固定在控制仓内,控制仓的左右两侧对称布置至少三个胸鳍驱动单元,每个胸鳍驱动单元的基体与控制仓的侧壁可拆卸固定连接,每根SMA丝通过导线与电路板连接,每个基体与PVC柔性板一端可拆卸固定连接,上、下壳体密封连接。本发明采用SMA丝驱动,再加上软体材料外壳,使得仿生蝠鲼具有更好的柔顺性,更好地实现了对于蝠鲼的模仿。


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    Title :

    Bionic manta ray based on SMA wire driving


    Additional title:

    一种基于SMA丝驱动的仿生蝠鲼


    Contributors:
    CHEN ZHIYUAN (author) / LIU YIWEI (author)

    Publication date :

    2021-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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