The invention relates to the technical field of underwater robots, in particular to an SMA and IPMC driven intelligent underwater bionic soft robot which comprises a fish head, a fish body and a fish tail. The fish head is fixed to the front end of the fish body, the two sides of the fish body are each rotationally connected with a pectoral fin, and the pectoral fins are driven by a pectoral fin rotating device to rotate. According to the robot, the fishtail and the pectoral fins are arranged and driven by the SMA driver and the IPMC driver, swinging of the fishtail and the pectoral fins can be achieved, angle rotation of the pectoral fins by the pectoral fin rotating device is combined, and under the cooperation effect, actions such as linear swimming, left and right turning and floating and diving of the robot can be effectively achieved; the robot is small in size, light in weight, free of noise, good in bionic effect and capable of being fused into fish schools and conducting autonomous cruise more easily when unknown water area detection is conducted.

    本发明涉及水下机器人技术领域,尤其涉及SMA和IPMC驱动的智能水下仿生软体机器人,包括鱼头、鱼身和鱼尾;所述鱼头固定于所述鱼身的前端,所述鱼身的两侧分别转动连接有一个胸鳍,且所述胸鳍受胸鳍转动装置驱动实现旋转。本发明通过设置的鱼尾、胸鳍,并通过SMA驱动器和IPMC驱动器进行驱动,可以实现鱼尾和胸鳍的摆动,并结合胸鳍转动装置对胸鳍的角度转动,在其配合作用下,可以有效实现机器人的直线游动、左、右转弯、上浮下潜等动作,且本机器人体积较小、重量较轻、无噪声、仿生效果好,可以在进行未知水域探测时,更易于融入鱼群并进行自主巡游。


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    Title :

    SMA and IPMC driven intelligent underwater bionic soft robot


    Additional title:

    SMA和IPMC驱动的智能水下仿生软体机器人


    Contributors:
    HUANG XIA (author) / HUANG GUAN (author) / YIN GUANGYING (author) / DING JUN (author)

    Publication date :

    2023-07-21


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / F03G Feder-, Gewichts-, Trägheits- oder ähnliche Kraftmaschinen , SPRING, WEIGHT, INERTIA, OR LIKE MOTORS



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