The invention provides an underwater fishtail-imitating type soft driver, and relates to the technical field of soft robots, the underwater fishtail-imitating type soft driver comprises: a fishbone part made of a flexible material; the two muscle parts are made of flexible materials, the two muscle parts are fixed to the two sides of the fishbone part respectively, the muscle parts are arranged in the length direction of the fishbone part, the two muscle parts are symmetrically arranged, linear air cavities are formed in the muscle parts, and the linear air cavities are communicated with the fishbone part. A restraint layer is arranged on the side, close to the fishbone part, of the muscle part, an expansion layer is arranged on the side, away from the fishbone part, of the muscle part, the expansion layer is composed of a plurality of air bags arranged at intervals in the length direction of the fishbone part, and all the air bags communicate with the air cavity; therefore, under the action of the same air pressure, the expansion layer generates larger deformation relative to the restraint layer. The robot has the beneficial effects that the two muscle parts are matched to drive the fishbone parts to sequentially swing in two directions to achieve swimming, straight going and turning can be achieved, and the swimming speed can be adjusted.
本发明提供一种水下仿鱼尾型软体驱动器,涉及软体机器人技术领域,该驱动器包括:鱼骨部,其为柔性材质;以及两肌肉部,所述肌肉部为柔性材质,两所述两肌肉部分别固定于所述鱼骨部的两侧,所述肌肉部沿着所述鱼骨部长度方向布置,两所述两肌肉部对称设置,所述肌肉部内部设有直线型的气腔,且所述肌肉部靠近所述鱼骨部一侧设有约束层、远离所述鱼骨部一侧设有扩展层,所述扩展层由沿着所述鱼骨部长度方向间隔设置的多个气囊组成,各所述气囊均与所述气腔连通,以使在相同气压作用下所述扩展层相对所述约束层产生更大形变。本发明的有益效果:通过两个肌肉部配合带动鱼骨部朝向两个方向依次摆动实现游动,可以直行和拐弯,且游动速度可以调节。
Underwater fishtail-imitating soft driver and control system thereof
一种水下仿鱼尾型软体驱动器及其控制系统
2024-07-02
Patent
Electronic Resource
Chinese
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