The invention discloses a vector propulsion bionic robot capable of actively adjusting the posture, and belongs to the technical field of bionic robots. The vector propulsion bionic robot comprises an umbrella-shaped body module, a tentacle module and a posture adjusting module; the umbrella-shaped body module comprises an umbrella-shaped head part and a skirt-shaped tail part, and the skirt-shaped tail part is formed by a high-elasticity film; the tentacle module comprises swing arms circumferentially installed on the periphery of the umbrella-shaped head, the swing arms can swing in a multi-stage mode towards or away from the axis of the umbrella-shaped head, and the swing arms are sequentially and fixedly connected with the skirt-shaped tail from the head end to the tail end along the axis of the skirt-shaped tail. The posture adjusting module comprises a rotating mechanism and a pendulum bob capable of swinging, and the pendulum bob is eccentrically and rotationally connected to the center of the umbrella top end of the umbrella-shaped head through the rotating mechanism. The rotating mechanism drives the pendulum bob to eccentrically rotate to achieve direction adjustment, the pendulum bob swings to achieve pitching angle adjustment, the swing arm and the skirt-shaped tail are matched to achieve autonomous three-dimensional space swimming posture change, various basic motions are completed in the mode that the goodness of fit with jellyfish motions in real life is high, and the bionic degree is high.

    本发明公开了一种主动调节姿态的矢量推进仿生机器人,属于仿生机器人技术领域,包括伞状体模块、触手模块以及姿态调节模块;伞状体模块包括伞状头部和裙状尾部,裙状尾部由高弹性膜构成;触手模块包括周向安装在伞状头部外周的摆臂,摆臂能够朝向或背向伞状头部的轴线多级摆动,摆臂由首端至末端沿裙状尾部轴线依次与其固定连接;姿态调节模块包括转动机构和能够摆动的摆锤,摆锤通过转动机构偏心转动连接在伞状头部的伞顶端的中心。转动机构带动摆锤偏心转动实现方位调节,摆锤摆动实现俯仰角度调节,配合摆臂和裙状尾部可实现自主的三维空间的游动姿态改变,以与现实生活中水母运动吻合度高的方式完成各种基本运动,仿生程度高。


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    Title :

    Vector propulsion bionic robot capable of actively adjusting posture


    Additional title:

    一种主动调节姿态的矢量推进仿生机器人


    Contributors:
    ZHANG YIXIN (author) / YI ZHIHENG (author) / WAN WENJING (author) / MIAO YINAN (author) / WANG SHAOPING (author) / KANG RUIQING (author) / SA KEWEI (author) / YANG MENGQI (author)

    Publication date :

    2024-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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