The invention discloses a bionic jellyfish capable of being controlled at multiple degrees of freedom, and belongs to the field of underwater bionic robots. Comprising a head assembly, a neck ring, a propelling mechanism, a driving mechanism, a base and a fixing rod. The head assembly comprises a shell, a motor fixing frame, a motor and a propeller, the propelling mechanism comprises a first connecting rod, a second connecting rod and a swing arm, and the driving mechanism comprises a cabin shell, a waterproof steering engine and a reciprocating mechanism. The propelling mechanisms are distributed around the center shaft of the head assembly in a central symmetry mode. The swing arm is connected with the guide rail sliding block through a first connecting rod and a second connecting rod, and a reciprocating mechanism in the driving mechanism converts rotating motion of the motor into vertical reciprocating motion of the guide rail sliding block to drive the swing arm to swing in a reciprocating mode. According to the multi-degree-of-freedom controlled bionic jellyfish robot, movement of the bionic jellyfish in different directions in water can be achieved by controlling different swing amplitudes of the tentacles, a gravity center adjusting mechanism is not needed, and the control method is simple.
本发明公开了一种可多自由度控制的仿生水母,属于水下仿生机器人领域。包括头部组件、颈环、推进机构、驱动机构、底座和固定杆。所述头部组件包括外壳、电机固定架、电机和螺旋桨,所述推进机构包括第一连杆、第二连杆、摆臂,所述驱动机构包括舱体外壳、防水舵机、往复机构。推进机构呈中心对称分布在头部组件中心轴周围。所述摆臂通过第一连杆和第二连杆与导轨滑块连接,所述驱动机构中的往复机构将电机的旋转运动转换为导轨滑块的上下往复运动,带动摆臂实现往复摆动。本发明提供了一种多自由度控制的仿生水母机器人,可以通过控制触手不同摆幅来实现仿生水母在水中不同方向的运动,且不需要重心调节机构,控制方法简单。
Bionic jellyfish robot capable of being controlled at multiple degrees of freedom
一种可多自由度控制的仿生水母机器人
2023-12-01
Patent
Electronic Resource
Chinese
Bionic jellyfish propelling mechanism and bionic jellyfish robot
European Patent Office | 2023
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