CN103273486A - Jellyfish imitation robot and control method thereof - Google Patents
Jellyfish imitation robot and control method thereof Download PDFInfo
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- CN103273486A CN103273486A CN2013101866416A CN201310186641A CN103273486A CN 103273486 A CN103273486 A CN 103273486A CN 2013101866416 A CN2013101866416 A CN 2013101866416A CN 201310186641 A CN201310186641 A CN 201310186641A CN 103273486 A CN103273486 A CN 103273486A
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Abstract
The invention discloses a jellyfish imitation robot and a control method of the jellyfish imitation robot. The jellyfish imitation robot comprises a hemispherical soft shell, a plurality of elastic pull rods, a plurality of shape memory alloy wires and a tail fin, wherein the elastic pull rods are supported on the inner side of the hemispherical soft shell. The tail fin comprises tail fin rings and fin plates, wherein the fin plates stretch out from the tail fin rings. One ends of the shape memory alloy wires are connected with connecting parts of the elastic pull rods, and the other ends of the shape memory alloy wires are connected with the tail fin rings. Shrinkage or stretching of the shape memory alloy wires is controlled to enable the hemispherical soft shell to shrink or stretch to acquire power and steering of the jellyfish imitation robot, the jellyfish imitation effect is generated, and then the jellyfish imitation robot moves, and the shape memory alloy wires drive the tail fin to deflect to achieve steering. The jellyfish imitation robot is simple in structure and easy to control.
Description
Technical field
The present invention relates to the field of machines people, particularly a kind of bio-robot and control method thereof.
Background technology
Along with marine protection and the needs of investigation under water, underwater robot more and more is subject to people's attention, and these robots will investigate in water, monitor naval vessel and submarine, survey chemical overflow, and the monitoring fish migrate aspect such as situation and exhibit one's skill to the full.Jellyfish is a kind of desirable invertebrate, and the contraction of dependence meat fiber control inner chamber and expansion suck and spray current, produce thrust thus jellyfish is moved along the health axial direction.At present be subjected to higher attention as bionical object at home and abroad.But present imitative jellyfish robot architecture is complicated, and cost is high and wayward when moving about.
Therefore, need a kind of new technical scheme to address the above problem.
Summary of the invention
At above-mentioned existing in prior technology problem and shortage, the purpose of this invention is to provide a kind of simple in structure and imitative jellyfish robot of being easy to control.
For achieving the above object, the imitative jellyfish robot of the present invention can adopt following technical scheme:
A kind of imitative jellyfish robot, comprise lengthwise main body, be installed on the head of body front end and be installed on the tail fin of main body tail end; Described head comprises the hemispherical soft shell and is supported in some elastic draw bars of this hemispherical soft shell inboard that described elastic draw bar comprises against the fulcrum of hemispherical soft shell, reaches the connecting portion to the main body extension from fulcrum from the outward extending pull bar mobile jib of fulcrum; Tail fin comprises the tail fin ring that is connected with main body and connects tail fin ring and cross one another fin keel; Described main body comprises some shape-memory alloy wires, and an end of this shape-memory alloy wire connects the connecting portion of elastic draw bar, and the other end connects described tail fin ring.
The imitative jellyfish robot of the present invention is compared with prior art: the power of this imitative jellyfish robot and turn to the contraction by the control shape-memory alloy wire or stretch and realize, and simple in structure and be easy to control.
Above-mentioned imitative jellyfish ROBOT CONTROL method comprises:
The transportation by driving of diving is moving: arrange when to shape-memory alloy wire energising heating and can make its contraction, thereby inwardly spur elastic draw bar, thereby and since the fulcrum of elastic draw bar be resisted against on the hemispherical soft shell and suffer restraints, the pull bar mobile jib is inwardly shunk drive the hemispherical soft shell inwardly to shrink and the water in the hemispherical soft shell is outwards extruded thereby produce leverage, the reaction force of the water generates of extrusion makes this imitative jellyfish robot travel forward to realize come-up or dive in water; And after outage was cooled off to shape-memory alloy wire, shape-memory alloy wire recovered original length, and elastic draw bar is also opened together with the hemispherical soft shell, and the hemispherical soft shell sucks water again, prepared for shrink next time; Circulation setting-out and suction like this, imitative jellyfish robot is with persistent movement;
Divertical motion: described shape-memory alloy wire is made as four groups, thereby by pulling two adjacent groups shape-memory alloy wire fin keel is changeed to these two groups of shape-memory alloy wire lateral deviations, thereby imitative jellyfish robot is turned to this side;
Method for control speed: realize by PWM electrical current dutycycle and the shape-memory alloy wire electrical current size that changes shape-memory alloy wire;
Feedback regulation method: obtain the residing state of shape-memory alloy wire by the resistance value of measuring on the shape-memory alloy wire, according to recording shape-memory alloy wire resistance measurement feedback voltage value, to draw pwm signal dutycycle and the break-make conversion opportunity that to export.
Description of drawings
Fig. 1 is the imitative jellyfish robot construction schematic diagram of the present invention.
Fig. 2 is the cooperation schematic diagram of the imitative jellyfish robot of the present invention center rod, shape-memory alloy wire and elastic draw bar.
Fig. 3 is the partial enlarged drawing of the imitative jellyfish robot of the present invention, and has showed the cooperation of fin keel, shape-memory alloy wire and tail fin ring.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, further illustrate the present invention, should understand the following specific embodiment only is used for explanation the present invention and is not used in and limits the scope of the invention, after having read the present invention, those skilled in the art all fall within the application's claims institute restricted portion to the modification of the various equivalent form of values of the present invention.
Please in conjunction with Fig. 1 to shown in Figure 3, the present invention discloses a kind of imitative jellyfish robot, comprise lengthwise main body 1, be installed on the head of main body 1 front end and be installed on the tail fin of main body 1 tail end.Described head comprises hemispherical soft shell 2 and is supported in some elastic draw bars 3 of these hemispherical soft shell 2 inboards.Hemispherical soft shell 2 forms the umbrella that struts.Described elastic draw bar 3 comprises fulcrum 31 against hemispherical soft shell 2, from fulcrum 31 outward extending pull bar mobile jibs 32 and the connecting portion 33 that extends to main body 1 from fulcrum 31.Tail fin comprises the tail fin ring 4 that is connected with main body and connects tail fin ring 4 and cross one another fin keel 5.Described main body 1 comprises some shape-memory alloy wires 6, and an end of this shape-memory alloy wire 6 connects the connecting portion 33 of elastic draw bar, and the other end connects described tail fin ring 4.Owing to adopt shape-memory alloy wire 6, can arrange in the present embodiment when to shape-memory alloy wire 6 energising heating and can make its contraction, thereby inwardly spur elastic draw bar 3, thereby and since the fulcrum 31 of elastic draw bar 3 be resisted against on the hemispherical soft shell 2 and suffer restraints, pull bar mobile jib 32 is inwardly shunk drive hemispherical soft shells 2 inwardly to shrink and the water in the hemispherical soft shell 2 are outwards extruded thereby produce leverage, the reaction force of the water generates of extrusion travels forward this imitative jellyfish robot in water.And after 6 outages were cooled off to shape-memory alloy wire, shape-memory alloy wire 6 recovered original lengths, and elastic draw bar 3 is also opened together with hemispherical soft shell 2, and hemispherical soft shell 2 sucks water again, prepared for shrink next time.Circulation setting-out and suction like this makes imitative jellyfish robot continue to advance.And when the imitative jellyfish robot of needs turned to, after calculating, the contracted length by control difformity memory alloy wire 6 made the tail fin deflection that is connected with some shape-memory alloy wires 6, can control imitative jellyfish robot and turn to when underwater exercise.
Further, in order better to control turning to of imitative jellyfish robot, described main body 1 also comprises the connecting rod 12 of center rod 11, connection center rod 11 and the tail fin ring 4 of lengthwise, is provided with baffle plate 13 between described center rod 11 and the connecting rod 12.The described connecting rod 12 outer springs 14 that are with, an end of spring 14 against baffle plate 13 and the other end against tail fin ring 4.Spring 14 is at tail fin during by shape-memory alloy wire 6 pulling deflections, and spring 14 plays the effect of buffering against tail fin ring 4, deflection that can more accurate control tail fin.Further, described fin keel 5 is that four intersections are formed the structure that the cross section is " ten " word, described shape-memory alloy wire 6 is four groups, every group of shape-memory alloy wire 6 is connected in the position of tail fin ring 4 between two adjacent fin keels 5, thereby by pulling two adjacent groups shape-memory alloy wire 6 fin keel 5 is changeed to these two groups of shape-memory alloy wire 6 lateral deviations, thereby imitative jellyfish robot is turned to this side.In the present embodiment, described elastic draw bar 3 and shape-memory alloy wire 6 are eight, one group in twos of shape-memory alloy wire 6.Described shape-memory alloy wire 6 is coated with insulated paint to prevent short circuit hidden danger.
Method for control speed to imitative jellyfish robot is: realize by PWM electrical current dutycycle and the shape-memory alloy wire 6 electrical currents size that changes shape-memory alloy wire 6; Be divided into fast and advance, advance at a slow speed, keep static several classification, can realize stepless time adjustment.
Feedback regulation method to imitative jellyfish robot is: obtain shape-memory alloy wire 6 residing states by the resistance value of measuring on the shape-memory alloy wire 6, according to recording shape-memory alloy wire 6 resistance measurement feedback voltage values, can draw pwm signal dutycycle and the break-make conversion opportunity that to export through certain calculating, one can realize heating and the FEEDBACK CONTROL of cooling off, the make-and-break time of control electric current prevents that shape-memory alloy wire 6 is overheated.Two can realize the firing rate control of shape-memory alloy wire 6, and control shape-memory alloy wire 6 is heated to phase transition temperature with certain firing rate and realizes shrinking acting.
The power of the imitative jellyfish robot of the present invention and turn to the contraction by control shape-memory alloy wire 6 or stretch and realize, simple in structure and be easy to control.Not only possessed characteristics such as noise is low, motion is flexible, and it is big to have driving force, has feedback regulation mechanism, good stability, low cost of manufacture, the advantage that is easy to safeguard.
Claims (7)
1. imitative jellyfish robot is characterized in that: comprise lengthwise main body, be installed on the head of body front end and be installed on the tail fin of main body tail end; Described head comprises the hemispherical soft shell and is supported in some elastic draw bars of this hemispherical soft shell inboard that described elastic draw bar comprises against the fulcrum of hemispherical soft shell, reaches the connecting portion to the main body extension from fulcrum from the outward extending pull bar mobile jib of fulcrum; Tail fin comprises the tail fin ring that is connected with main body and connects tail fin ring and cross one another fin keel; Described main body comprises some shape-memory alloy wires, and an end of this shape-memory alloy wire connects the connecting portion of elastic draw bar, and the other end connects described tail fin ring.
2. imitative jellyfish as claimed in claim 1 robot, it is characterized in that: described hemispherical soft shell forms the umbrella that struts.
3. imitative jellyfish as claimed in claim 1 or 2 robot, it is characterized in that: described main body also comprises the connecting rod of center rod, connection center rod and the tail fin ring of lengthwise, be provided with baffle plate between described center rod and the connecting rod, described connecting rod is with spring outward, an end of spring against baffle plate and the other end against the tail fin ring.
4. imitative jellyfish as claimed in claim 1 robot, it is characterized in that: described fin keel is that four intersections are formed the structure that the cross section is " ten " word, described shape-memory alloy wire is four groups, and every group of shape-memory alloy wire is connected in the position of tail fin ring between two adjacent fin keels.
5. imitative jellyfish as claimed in claim 4 robot, it is characterized in that: described elastic draw bar and shape-memory alloy wire are eight.
6. imitative jellyfish as claimed in claim 5 robot, it is characterized in that: described shape-memory alloy wire is coated with insulated paint.
7. as any described imitative jellyfish ROBOT CONTROL method in the claim 1 to 6, it is characterized in that, comprising:
The transportation by driving of diving is moving: arrange when to shape-memory alloy wire energising heating and can make its contraction, thereby inwardly spur elastic draw bar, and owing to being resisted against on the hemispherical soft shell, the fulcrum of elastic draw bar suffers restraints, the pull bar mobile jib is inwardly shunk drive the hemispherical soft shell inwardly to shrink and the water in the hemispherical soft shell is outwards extruded thereby produce leverage, the reaction force of the water generates of extrusion makes this imitative jellyfish robot travel forward to realize come-up or dive in water; After to shape-memory alloy wire outage and cooling, shape-memory alloy wire recovers original length, and elastic draw bar is also opened together with the hemispherical soft shell, and the hemispherical soft shell sucks water again, prepares for shrink next time; Circulation setting-out and suction like this, imitative jellyfish robot is with persistent movement;
Divertical motion: described shape-memory alloy wire is made as four groups, thereby by pulling two adjacent groups shape-memory alloy wire fin keel is changeed to these two groups of shape-memory alloy wire lateral deviations, and imitative jellyfish robot will turn to this side;
Method for control speed: realize by PWM electrical current dutycycle and the shape-memory alloy wire electrical current size that changes shape-memory alloy wire;
Feedback regulation method: obtain the residing state of shape-memory alloy wire by the resistance value of measuring on the shape-memory alloy wire, according to recording shape-memory alloy wire resistance measurement feedback voltage value, to draw pwm signal dutycycle and the break-make conversion opportunity that to export.
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| CN201310186641.6A CN103273486B (en) | 2013-05-17 | 2013-05-17 | Jellyfish imitation robot and control method thereof |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129487A (en) * | 2014-07-21 | 2014-11-05 | 哈尔滨工业大学 | Robojelly driven by multi-joint double-faced shape memory alloys |
| CN104287684A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Pawl resetting type capsule endoscopy robot parking and pose adjusting device and method |
| CN105128014A (en) * | 2015-09-28 | 2015-12-09 | 哈尔滨工业大学深圳研究生院 | Light large-sized sea turtle robot for stage performance |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN112477140A (en) * | 2020-10-15 | 2021-03-12 | 中国科学院微电子研究所 | Electrical heating 4D printing assembly and printing method |
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| CN102114907A (en) * | 2011-02-21 | 2011-07-06 | 哈尔滨工业大学 | Flexible dual-drive biomimetic fish with variable drive position |
| CN102795069A (en) * | 2012-08-03 | 2012-11-28 | 南京航空航天大学 | Moving method for hybrid-driven jellyfish-simulating amphibious robot |
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| RU2046052C1 (en) * | 1989-09-25 | 1995-10-20 | Александр Алексеевич Таранцев | Carrying submarine vessel |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104129487A (en) * | 2014-07-21 | 2014-11-05 | 哈尔滨工业大学 | Robojelly driven by multi-joint double-faced shape memory alloys |
| CN104287684A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Pawl resetting type capsule endoscopy robot parking and pose adjusting device and method |
| CN105128014A (en) * | 2015-09-28 | 2015-12-09 | 哈尔滨工业大学深圳研究生院 | Light large-sized sea turtle robot for stage performance |
| CN108622347A (en) * | 2018-05-07 | 2018-10-09 | 中国石油大学(华东) | A kind of Bionic flexible arm drive-type submersible |
| CN108622347B (en) * | 2018-05-07 | 2023-10-13 | 中国石油大学(华东) | Bionic flexible arm driving type submersible |
| CN110588934A (en) * | 2019-10-15 | 2019-12-20 | 上海海洋大学 | Underwater flexible bionic squid |
| CN110588934B (en) * | 2019-10-15 | 2024-01-30 | 上海海洋大学 | Underwater flexible bionic squid |
| CN112477140A (en) * | 2020-10-15 | 2021-03-12 | 中国科学院微电子研究所 | Electrical heating 4D printing assembly and printing method |
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| CN103273486B (en) | 2015-07-01 |
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