The full-flexible bionic robot based on shape memory alloy driving comprises a main machine body, the main machine body comprises a flexible shell, a rigid keel and an electrical control assembly, flexible wing-foot mechanisms are symmetrically arranged on the two sides of the upper portion of the main machine body, and each flexible wing-foot mechanism comprises a single-degree-of-freedom SMA driver and a wing-shaped flexible substrate; one end of the single-degree-of-freedom SMA driver is fixed on the rigid keel, and the other end of the single-degree-of-freedom SMA driver is arranged in the wing-shaped flexible substrate and extends to the free end of the wing-shaped flexible substrate; the bottom of the main machine body is connected with a tail and abdomen mechanism, the tail and abdomen mechanism comprises a two-degree-of-freedom SMA driver and a tail and abdomen flexible substrate, one end of the two-degree-of-freedom SMA driver is fixed to the rigid keel, and the other end of the two-degree-of-freedom SMA driver is arranged in the tail and abdomen flexible substrate and extends to the free end of the tail and abdomen flexible substrate. The robot has the remarkable advantages of small size, no rotary rigid mechanism, full-flexible machine body, high maneuverability, long endurance and the like, and can be used for deep sea detection.

    本发明公开了一种基于形状记忆合金驱动的全柔性仿生机器人及制作方法,包括主机体,主机体包括柔性壳体、刚性龙骨和电气控制组件,主机体的上部两侧对称设有柔性翼足机构,柔性翼足机构包括单自由度SMA驱动器和翼形柔性基片,单自由度SMA驱动器一端固定于刚性龙骨上,另一端设置于翼形柔性基片内并延伸至翼形柔性基片的自由端;主机体底部连接有尾腹部机构,尾腹部机构包括二自由度SMA驱动器和尾腹部柔性基片,二自由度SMA驱动器一端固定于刚性龙骨上,另一端设置于尾腹部柔性基片内并延伸至尾腹部柔性基片的自由端。本发明具有尺寸小、无旋转刚性机构、全柔性机体、高机动和长续航等显著优势,能够进行深海探测。


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    Title :

    Full-flexible bionic robot based on shape memory alloy driving and manufacturing method


    Additional title:

    基于形状记忆合金驱动的全柔性仿生机器人及制作方法


    Contributors:
    ZHANG YIXIN (author) / HU JIANGCHUAN (author) / WANG XINGJIAN (author) / WAN WENJING (author) / WU WENJIE (author) / WANG SHAOPING (author) / YANG MENGQI (author) / ZHU SHENGHUA (author)

    Publication date :

    2024-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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