The invention discloses a rigid-flexible cross bionic underwater robot based on cuttlefish ledebugi, and belongs to the technical field of bionic robots. The fluctuating fin mechanism comprises a plurality of fluctuating fins evenly arranged on the two sides of the main body shell, the fluctuating fins are connected with the pneumatic muscle set through the transmission mechanism, the pneumatic muscle set is arranged in the main body shell, the pneumatic muscle set is inflated and deflated, and therefore the fluctuating fins are driven to swing up and down; the multiple fluctuation fins located on the same side of the body shell are arranged at equal intervals according to the sine function phase difference. The wrist foot mechanism comprises a plurality of inflatable wrist feet arranged at one end of the main body shell, the plurality of inflatable wrist feet are uniformly distributed along the circumference, and after the inflatable wrist feet are inflated, the inflatable wrist feet are bent outwards, and after the inflatable wrist feet are deflated, the inflatable wrist feet recover to a straight state. A composite propulsion mode of horizontal propulsion of the fluctuating fins on the two sides and sudden-change propulsion of the tail inflation wrist foot is adopted, the characteristics of high propulsion efficiency and high maneuverability are achieved, and the controllability of the motion posture is improved.
本发明公开一种基于莱氏拟乌贼的刚柔交叉仿生水下机器人,属于仿生机器人技术领域,包括:主体外壳;波动鳍机构,波动鳍机构包括多个均匀设置在主体外壳两侧的波动鳍,波动鳍通过传动机构与气动肌肉组相连接,气动肌肉组设置于主体外壳内,对气动肌肉组充气和放气,从而带动波动鳍上下摆动,位于主体外壳同侧的多个波动鳍按照正弦函数相位差等距排布;腕足机构,腕足机构包括多个设置于主体外壳一端的充气腕足,多个充气腕足沿圆周均匀分布,对充气腕足充气后,充气腕足向外弯曲,放气后,充气腕足恢复平直状态。本发明采用两侧波动鳍水平推进和尾部充气腕足突变推进的复合推进模式,具有推进效率高、机动性强的特点,提高运动姿态的可控性。
Rigid-flexible cross bionic underwater robot based on cuttlefish rileyi
一种基于莱氏拟乌贼的刚柔交叉仿生水下机器人
2024-11-22
Patent
Electronic Resource
Chinese
Underwater multi-degree-of-freedom movement mechanism of bionic cuttlefish
European Patent Office | 2022
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