The invention relates to a flexible actuator for water jet propulsion of a soft bionic dogvessel. The flexible actuator comprises a silicone rubber elastic base body and annular artificial muscles, the silicone rubber elastic base body is provided with a front-back through cavity; the center rotation axis of the annular artificial muscle coincides with the center rotation axis of the silicone rubber elastic base body. The annular artificial muscle is formed by connecting a plurality of soft body units in series, and each soft body unit comprises a soft body unit elastic layer, a sealing joint and a soft body unit wrapping layer; the sealing joints are located at the two ends of the elastic layer of the soft body unit and used for being connected with the adjacent soft body unit in a sealed mode. A plurality of woven fibers and a soft body unit cavity are arranged in the soft body unit elastic layer, the soft body unit cavity is used for containing or emptying hydraulic oil so that the annular artificial muscle can contract or recover, and hydraulic oil flow channels are formed in the two ends of the soft body unit cavity. The bionic bionic artificial skin is high in flexibility, reasonable in bionic property, low in cost, high in environmental adaptability and high in application value.
本发明涉及一种软体仿生樽海鞘喷水推进柔性执行器,包括硅橡胶弹性基体、环形人工肌肉;硅橡胶弹性基体具有前后通透的空腔;环形人工肌肉的中心回转轴线与硅橡胶弹性基体的中心回转轴线重合;环形人工肌肉由多个软体单元串联而成,每个软体单元包括软体单元弹性层、密封接头、软体单元包裹层;密封接头位于软体单元弹性层的两端,用于和相邻的软体单元密封连接;软体单元弹性层的内部设有多条编织纤维和一个软体单元空腔,软体单元空腔用于容纳或排空液压油从而使环形人工肌肉收缩或者恢复,软体单元空腔的两端设有液压油流道。本发明柔顺性强、仿生合理:成本低:环境适应性强,具有较高的应用价值。
Soft bionic dogvessel water jet propulsion flexible actuator
一种软体仿生樽海鞘喷水推进柔性执行器
2023-07-18
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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