The invention discloses a manta ray imitating pectoral fin based on a hydraulic soft actuator and a parameter optimization method thereof.The manta ray imitating pectoral fin comprises a main actuator, an auxiliary actuator and a peristaltic pump, the main actuator and the auxiliary actuator each comprise an elastic cavity and a middle limiting plate, the elastic cavity comprises a cylindrical cavity, and the cavity is divided into an upper semicircular cavity and a lower semicircular cavity through a middle layer; and the middle limiting plate is a rectangular hard material plate and is arranged on the surface of the middle layer of the elastic cavity. When the main actuator and the auxiliary actuator are bent in the same direction, the main actuator and the auxiliary actuator flutter upwards, the peristaltic pump pumps liquid in the upper semicircular cavity into the lower semicircular cavity, and the peristaltic pump flutters downwards, so that the operation is opposite. When the main actuator and the auxiliary actuator are bent in opposite directions, the main actuator and the auxiliary actuator flutter upwards, the peristaltic pump pumps liquid in an upper semicircular cavity of the main actuator to a lower semicircular cavity of the main actuator and pumps liquid in a lower semicircular cavity of the auxiliary actuator to an upper semicircular cavity of the auxiliary actuator, and when the main actuator and the auxiliary actuator flutter downwards, the operation is opposite; the flapping direction is determined by the bending direction of the main actuator.
本发明公开了一种基于液动软体致动器的仿蝠鲼胸鳍及其参数优化方法,所述蝠鲼胸鳍,包括主致动、辅致动器和蠕动泵,主致动器和辅致动器均包括弹性腔体和中间限制板,弹性腔体包括圆柱形空腔,空腔由中间层划分为上、下半圆空腔;中间限制板为矩形硬质材料板,设置在弹性腔体的中间层表面。当主致动器和辅致动器同方向弯曲时,向上扑动,蠕动泵将上半圆腔室的液体抽到下半圆腔室中,向下扑动,则相反。当主致动器和辅致动器反方向弯曲时,向上扑动,蠕动泵将主致动器的上半圆腔室的液体抽到主致动器的下半圆腔室,将辅致动器的下半圆腔室的液体抽到辅致动器的上半圆腔室,向下扑动时,则相反;扑动方向由主致动器的弯曲方向决定。
Manta ray-imitated pectoral fin based on hydraulic soft actuator and parameter optimization method of manta ray-imitated pectoral fin
一种基于液动软体致动器的仿蝠鲼胸鳍及其参数优化方法
2024-07-05
Patent
Electronic Resource
Chinese
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