The invention belongs to the field of soft robots, and particularly relates to a soft fish robot driven by a chemical energy release reaction, the soft fish robot comprises a flexible skeleton, a flexible fish skin and a chemical energy release reaction system, the flexible skeleton comprises a flexible fish spine and a flexible fish bone, and the chemical energy release reaction system comprisesan energy release reaction gas storage unit and an energy release reaction excitation unit. According to the bionic robot fish, chemical energy release reaction and variable stiffness structural design are creatively combined, swimming of the soft robot fish driven by the chemical energy release reaction is achieved for the first time, and bionic muscle movement is achieved through reaction bin distribution; a variable-rigidity structure is innovatively used for simulating a machine framework to support a fish body, and flexible fish skin is used for wrapping the whole machine body; compared with other soft fishes, the driving force is higher, the response time is shorter, and the average speed is higher; compared with other rigid robotic fishes, the bionic robotic fish is smaller in mass,higher in degree of freedom and higher in bionic degree.
本发明属于软体机器人领域,具体涉及一种化学放能反应驱动的软体鱼机器人,包括柔性骨架、柔性鱼皮及化学放能反应系统,所述柔性骨架包括柔性鱼脊柱、柔性鱼骨,所述化学放能反应系统包括放能反应储气单元和放能反应激励单元。本发明创新性地将化学放能反应与变刚度结构设计结合起来,首次实现了化学放能反应驱动的软体机器鱼的游动,通过反应仓分布,实现肌肉运动的仿生;本发明创新性地使用变刚度结构模拟机器骨架支撑鱼身,采用柔性鱼皮包覆机器全身;本发明较其他软体鱼驱动力更高、响应时间更快且平均速度更高;本发明较其他刚性机器鱼质量更小、自由度更高且仿生程度更高。
Soft fish robot driven by chemical energy release reaction
一种化学放能反应驱动的软体鱼机器人
2021-03-26
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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