The invention relates to an underwater bionic flexible actuator based on electrostatic hydraulic driving. The underwater bionic flexible actuator comprises a driving module, a pitching control module and a power supply module. The pitching control module is arranged on the driving module, and the power supply module is respectively connected with the driving module and the pitching control module; the driving module is used for achieving advancing of the actuator. The driving module comprises a flexible undulating fin, two side hardened layers, an elastic hinge layer, a first middle hardened layer and a first hydraulic amplification self-healing driver. The pitching control module is used for achieving upward floating motion and downward sinking motion of the actuator. The pitching control module comprises a second middle hardened layer, a pitching unit and a second hydraulic amplification self-healing driver. Compared with the prior art, through simple preparation and control of the modules, effective multi-directional swimming can be realized; a specific flexible material and a flexible structure are adopted, so that elasticity and chemical resistance are achieved.
本发明涉及一种基于静电液压驱动的水下仿生柔性执行器,包括驱动模块、俯仰控制模块和供电模块;俯仰控制模块设于驱动模块上,供电模块分别与驱动模块、俯仰控制模块连接;驱动模块用于实现执行器的前进,驱动模块包括:柔性波动鳍、两侧硬化层、弹性铰链层、第一中间硬化层和第一液压放大自愈式驱动器;俯仰控制模块用于实现执行器的上浮运动与下沉运动,俯仰控制模块包括:第二中间硬化层、俯仰单元和第二液压放大自愈式驱动器。与现有技术相比,本发明通过对模块的简单制备和控制,即可实现有效的多方位游动;采用特定的柔性材料和柔性结构,具有弹性和耐化学性。
Underwater bionic flexible actuator based on electrostatic hydraulic drive
一种基于静电液压驱动的水下仿生柔性执行器
2024-07-02
Patent
Electronic Resource
Chinese
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