The invention discloses a multi-mode motion bionic jellyfish soft robot based on DEA driving, which comprises a base body, at least three main supporting legs with elastic deformation capability are arranged on the side surface of the base body in an annular array, each main supporting leg is provided with a DEA driver, and the DEA drivers can drive the corresponding main supporting legs to perform downward back-and-forth bending motion. An auxiliary supporting leg is arranged at the end of the main supporting leg, and one end of the auxiliary supporting leg is hinged to the end of the main supporting leg through a hinged support so that the auxiliary supporting leg can only rotate towards the lower portion of the base body. The DEA drivers are adopted to drive the main supporting legs, expansion and contraction of the DEA drivers are controlled by controlling the voltage and frequency of the DEA drivers, and water repellent control over the main supporting legs is achieved; and in addition, the DEA drivers control downward bending and upward recovery of the main supporting legs correspondingly, control over the size of the upstream face in different directions is achieved, water can be stirred better, and larger reverse acting force is provided for providing motion power for the robot.
本发明公开了一种基于DEA驱动的多模式运动仿生水母软体机器人,包括基体,基体的侧面上环形阵列设置有至少三个具有弹性变形能力的主支腿,每个主支腿上分别安装有DEA驱动器,DEA驱动器能够驱动其对应的主支腿执行向下来回弯曲运动,主支腿的端部设置有副支腿,副支腿的一端通过铰座与主支腿的端部铰接连接使得副支腿仅能够朝向基体的下方进行转动。本发明采用DEA驱动器对主支腿进行驱动,通过控制DEA驱动器的电压大小和频率,进而控制DEA驱动器的扩张与收缩,实现对主支腿的拨水控制;另外DEA驱动器分别控制主支腿的向下弯曲和向上恢复,实现在不同方向上迎水面大小的控制,能够更好的对水进行拨动,提供更大的反向作用力为机器人提供运动的动力。
DEA driving-based multi-mode motion bionic jellyfish soft robot
基于DEA驱动的多模式运动仿生水母软体机器人
2024-11-12
Patent
Electronic Resource
Chinese
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