The invention relates to a crayfish-imitating robot synergistically propelled by an abdomen and a tail fan and a coupling motion method thereof, and belongs to the technical field of underwater robots. The device is composed of a shrimp head part, a belly bending structure, a tail fan bending and flare angle changing structure and a pneumatic module. The shrimp head part mainly comprises a shrimp head shell, a power supply, a control panel, a gyroscope and an air pressure sensor; the abdomen bending structure is provided with M joints, and each joint comprises a pneumatic bending soft body actuator and a joint shell; the tail fan bending and opening angle changing structure comprises a tail fan shell, a left tail fan, a right tail fan, a tail fan pneumatic bending soft actuator and a tail fan opening and closing soft actuator. The pneumatic module is composed of an air pump and an electromagnetic reversing valve. The abdomen and the tail fan of the robot cooperatively operate, and the swimming speed and maneuverability of the robot are improved through coupling of the soft actuator and the shell and coupling movement of the abdomen and the tail fan. The underwater platform can be applied to the fields of ecological observation, underwater survey, reconnaissance and the like of an underwater narrow environment as an underwater platform.
本发明涉及一种腹部和尾扇协同推进的仿小龙虾机器人及其耦合运动方法,属于水下机器人技术领域。它由虾头部分、腹部弯曲结构、尾扇弯曲及变张角结构和气动模块组成。虾头部分主要包括虾头外壳、电源、控制板、陀螺仪、气压传感器;腹部弯曲结构共有M个关节,每个关节均包括气动弯曲软体执行器、关节外壳;尾扇弯曲及变张角结构包括尾扇外壳、左右尾扇、尾扇气动弯曲软体执行器和尾扇开合软体执行器;气动模块由气泵和电磁换向阀组成;该机器人的腹部与尾扇协同运作,并通过软体执行器和外壳的耦合以及腹部与尾扇的耦合运动提高机器人的游动速度和机动性。可作为水下平台应用于水下狭窄环境的生态观测、水下勘测、侦察等领域。
Crayfish-imitating robot synergistically propelled by abdomen and tail fan and coupling movement method of crayfish-imitating robot
腹部和尾扇协同推进的仿小龙虾机器人及其耦合运动方法
2024-06-21
Patent
Electronic Resource
Chinese
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