CN118254943A - Electroactive bistable bending mechanism and bata-like flapping wing device - Google Patents
Electroactive bistable bending mechanism and bata-like flapping wing device Download PDFInfo
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- CN118254943A CN118254943A CN202410347764.1A CN202410347764A CN118254943A CN 118254943 A CN118254943 A CN 118254943A CN 202410347764 A CN202410347764 A CN 202410347764A CN 118254943 A CN118254943 A CN 118254943A
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- 238000005452 bending Methods 0.000 title claims abstract description 71
- 230000007246 mechanism Effects 0.000 title claims abstract description 53
- 229920001971 elastomer Polymers 0.000 claims abstract description 12
- 239000000806 elastomer Substances 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 241000251468 Actinopterygii Species 0.000 abstract description 12
- 239000011664 nicotinic acid Substances 0.000 abstract description 12
- 238000004088 simulation Methods 0.000 abstract 1
- 230000033001 locomotion Effects 0.000 description 12
- 230000004888 barrier function Effects 0.000 description 6
- 230000006872 improvement Effects 0.000 description 5
- 240000003380 Passiflora rubra Species 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000005381 potential energy Methods 0.000 description 3
- 241001175904 Labeo bata Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920000139 polyethylene terephthalate Polymers 0.000 description 2
- 239000005020 polyethylene terephthalate Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009182 swimming Effects 0.000 description 2
- -1 that is Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 229920005594 polymer fiber Polymers 0.000 description 1
- 229920002635 polyurethane Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 229920002725 thermoplastic elastomer Polymers 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/36—Propulsive elements directly acting on water of non-rotary type swinging sideways, e.g. fishtail type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
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- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention provides an electroactive bistable bending mechanism and a bated ray simulation flapping wing device, relates to the technical field of soft drivers, and aims to solve the technical problems of large volume, poor biocompatibility, low energy efficiency and high noise of a bionic robot fish in the prior art; the utility model provides an electroactive bistable state turn round mechanism, including first stereoplasm panel, second stereoplasm panel and elastomer, the elastomer includes first connecting portion, second connecting portion and be in tensile state's tensile portion, first connecting portion up end and second connecting portion up end are connected with first stereoplasm panel respectively, first connecting portion lower terminal surface and second connecting portion lower terminal surface are connected with a second stereoplasm panel respectively, between first connecting portion front portion and the second connecting portion front portion, all be equipped with a crooked connecting piece between first connecting portion rear portion and the second connecting portion rear portion, between two first stereoplasm panel front portions, between the rear portion and between two second stereoplasm panel front portions, all connect through a TCPF driver between the rear portion.
Description
Technical Field
The invention relates to the technical field of soft drivers, in particular to an electroactive bistable bending mechanism and a batwing-simulated device.
Background
With the application of bionic biology in recent years, the fish swimming device has the advantages of high mobility, high efficiency, small disturbance to the environment and the like, is favored in underwater vehicles, and has very wide application prospect in civil and military fields. Compared with the traditional robot fish, the flexible bionic robot fish has flexible motion form, high motion freedom degree and strong biological affinity, but simultaneously has complex motion model and brings higher requirements for driving a robot. Most of traditional robots are driven by adopting motors and rigid structures, and have the advantages of simple models, large volume, poor biocompatibility and low energy efficiency, and are difficult to simulate biological complex motions; meanwhile, the relative motion of the rigid structure can generate non-negligible noise, and is not suitable for underwater and other working environments sensitive to noise.
Disclosure of Invention
The invention aims at overcoming the defects of the prior art, and provides an electroactive bistable bending mechanism which aims at solving the technical problems of large size, poor biocompatibility, low energy efficiency and high noise of a bionic robot fish in the prior art.
In order to solve the technical problems, the invention provides an electroactive bistable bending mechanism, which comprises a first hard plate, a second hard plate and an elastomer, wherein the elastomer comprises a first connecting part, a second connecting part and a stretching part which is elastic and is in a stretching state, the left end and the right end of the stretching part are respectively connected with the first connecting part and the second connecting part, the stretching direction of the stretching part is the left and right direction, the upper end face of the first connecting part and the upper end face of the second connecting part are respectively connected with a first hard plate, the lower end face of the first connecting part and the lower end face of the second connecting part are respectively connected with a second hard plate, a bending connecting piece is arranged between the front part of the first connecting part and the front part of the second connecting part, a bending connecting piece is arranged between the rear part of the first connecting part and the rear part of the second connecting part, the upper end face and the lower end face of the bending connecting piece at the rear side are respectively connected with the front part of the two first hard plates, the two second hard plates, the upper end face and the lower end face of the bending connecting piece at the rear side are respectively connected with the two first hard rear parts, the two second hard plates and the front parts of the first hard plates and the rear parts of the first hard plates and the second hard plates are respectively connected between the front parts and the front parts of the first hard plates and the two hard plates and the front parts of the two hard plates and between the front parts and 25 respectively.
After the structure is adopted, the electroactive bistable bending mechanism has the following advantages: the stretching part of the elastic body is kept in a pre-stretching state, the first hard plates at the left side and the right side and the second hard plates at the left side and the right side are connected by using bending connecting pieces, so that the stretching part is kept in the stretching state to form an energy barrier, meanwhile, the bending connecting pieces also serve as hinges of a bending mechanism, the front parts, the rear parts and the front parts and the rear parts of the two first hard plates are connected by using TCPF drivers, so that TCPF drivers are distributed in an upper state and a lower state and in a front state and a rear state respectively, the two TCPF drivers at the upper side are electrified to enable the TCPF drivers to shrink, the bending mechanism is upwards bent, the two TCPF drivers at the lower side are electrified to enable the TCPF drivers to shrink, and the bending mechanism is downwards bent to drive the bending mechanism to overcome the energy barrier, so that bi-stable movement of bi-directional bending is realized, and fish movement is simulated; the electroactive bistable bending mechanism does not need continuous power supply, only needs to electrify the unilateral TCPF driver during steady-state switching, has high energy efficiency, simple overall structure and light weight, does not relate to the deformation of a rigid structure, has larger bending deflection angle and smaller noise, and also has high energy efficiency, simple overall structure, small volume and light weight when being applied to the bionic robot fish, the larger deflection angle of the electroactive bistable bending mechanism is easier to simulate the action of fish organisms, and the bionic structure is more real and has stronger biocompatibility.
As an improvement, the stretching part comprises a first stretching section, a second stretching section and a third stretching section, wherein a third through groove penetrating through the front end face of the elastic body and the rear end face of the elastic body is respectively arranged at the front part and the rear part of the elastic body so as to form a first connecting part and a second connecting part, a third stretching section is formed between the two third through grooves, a first through groove is arranged in the middle of the first connecting part, a first stretching section is formed on the right side of the first through groove, a second through groove is arranged in the middle of the second connecting part, a second stretching section is formed on the left side of the second through groove, and the left end and the right end of the third stretching section are respectively connected with the middle of the first stretching section and the middle of the second stretching section; by adopting the structure, the stretching part formed by the first stretching section, the second stretching section and the third stretching section is easier to stretch and deform in the left-right direction so as to form enough energy barrier, which is more beneficial to the twisting mechanism to realize bistable motion through a TCPF driver and improves energy efficiency.
As an improvement, the upper end surfaces of the front parts and the upper end surfaces of the rear parts of the two first hard plates and the lower end surfaces of the front parts and the lower end surfaces of the rear parts of the two second hard plates are respectively connected with a fixed seat, and the left end and the right end of a TCPF driver are respectively connected with the two fixed seats; by adopting the structure, the driver is connected TCPF through the fixing seat, so that the TCPF driver can be stably connected to the upper end surface of the first hard plate and the lower end surface of the second hard plate, and the deflection angle of the bending mechanism is larger when the TCPF driver on one side is electrified and contracted.
As an improvement, the elastomer is made of TPU material.
As an improvement, the curved connection is made of PET material.
The invention also provides a bata-ray-simulated flapping wing device, which comprises the electroactive bistable bending mechanism, an aircraft trunk and a plurality of flexible fin bars, wherein the electroactive bistable bending mechanisms are symmetrically connected to the left side and the right side of the aircraft trunk, the electroactive bistable bending mechanisms on each side are distributed along the length direction of the aircraft trunk, and one end, far away from the aircraft trunk, of each electroactive bistable bending mechanism is connected with one flexible fin bar.
After the structure is adopted, the simulated playing ray flapping wing device has the following advantages: the electric activity bistable state bending mechanism is applied to the simulated batwing device, and each flexible fin strip is driven to swing up and down in sequence by the sequential bending deformation of each electric activity bistable state bending mechanism, so that the simulated batwing has the advantages of large swing amplitude, more real bionic structure, low noise, stronger biological affinity, high energy efficiency, simple integral structure and light weight.
As an improvement, the flexible fin bars are distributed in a bilateral symmetry manner; by adopting the structure, the bionic structure is more real and the biological affinity is stronger.
Drawings
Fig. 1 is a schematic perspective view of the whole structure in the first embodiment of the present invention.
Fig. 2 is a schematic perspective view of the whole structure in one of the stable states in the first embodiment of the present invention.
Fig. 3 is a schematic exploded view of a first hard plate, a second hard plate and an elastomer according to a first embodiment of the present invention.
FIG. 4 is a schematic perspective view of an unstretched elastomer according to a first embodiment of the present invention.
Fig. 5 is a schematic perspective view of the whole structure in the second embodiment of the present invention.
Reference numerals: 100. an electroactive bistable torque mechanism; 1. a first hard sheet material; 2. a second hard sheet material; 3. an elastomer; 31. a first connection portion; 32. a second connecting portion; 33. a stretching section; 331. a first stretching section; 332. a second stretching section; 333. a third stretching section; 4. bending the connecting piece; 5. TCPF drivers; 6. a first through groove; 7. a second through slot; 8. a fixing seat; 9. an aircraft backbone; 10. a flexible fin.
Detailed Description
The invention relates to an electroactive bistable bending mechanism and a bated ray-like flapping wing device, which are described in detail below with reference to the accompanying drawings.
Embodiment one:
As shown in fig. 1 to 4, the embodiment provides an electroactive bistable bending mechanism, which comprises a first hard plate 1, a second hard plate 2 and an elastic body 3, wherein the elastic body 3 comprises a first connecting part 31, a second connecting part 32 and a stretching part 33 which is elastic and in a stretching state, the left end and the right end of the stretching part 33 are respectively connected with the first connecting part 31 and the second connecting part 32, and the stretching direction of the stretching part 33 is the left-right direction.
As shown in fig. 3 and 4, the stretching part 33 includes a first stretching section 331, a second stretching section 332 and a third stretching section 333, the front and rear parts of the elastic body 3 are respectively provided with a third through slot penetrating the front end face of the elastic body 3 and penetrating the rear end face of the elastic body 3 to form a first connecting part 31 and a second connecting part 32, a third stretching section 333 is formed between the two third through slots, a first through slot 6 is arranged in the middle part of the first connecting part 31 and a first stretching section 331 is formed on the right side of the first through slot 6, a second through slot 7 is arranged in the middle part of the second connecting part 32 and a second stretching section 332 is formed on the left side of the second through slot 7, and the left and right ends of the third stretching section 333 are respectively connected with the middle parts of the first stretching section 331 and the second stretching section 332; in other words, the middle part of the first connecting portion 31 is provided with the first through slot 6, the first through slot 6 penetrates through the right end face of the first connecting portion 31, the middle part of the second connecting portion 32 is provided with the second through slot 7, the second through slot 7 penetrates through the left end face of the second connecting portion 32, the cross sections of the first through slot 6 and the second through slot 7 are rectangular, the stretching portion 33 comprises a first stretching section 331, a second stretching section 332 and a third stretching section 333, the front end and the rear end of the first stretching section 331 are respectively connected with the front side wall and the rear side wall of the first through slot 6, the front end and the rear end of the second stretching section 332 are respectively connected with the front side wall and the rear side wall of the second through slot 7, and the left end and the right end of the third stretching section 333 are respectively connected with the middle part of the first stretching section 331 and the middle part of the second stretching section 332; as shown in fig. 4, when not stretched, the stretched portion 33 is entirely in an "H" shape, and when stretched left and right as shown in fig. 3, the first and second connection portions 31 and 32 are separated from each other, the first and second stretched sections 331 and 332 are bent, and the space between the first and second connection portions 31 and 32 at this time is increased enough to accommodate the bent connection member 4; in the present embodiment, the first connecting portion 31, the second connecting portion 32 and the stretching portion 33 are integrally molded, and the elastic body 3 is made of TPU material, that is, polyurethane thermoplastic elastomer 3, so that the first connecting portion 31, the second connecting portion 32 and the stretching portion 33 have elasticity.
As shown in fig. 1 and 3, the upper end surface of the first connecting portion 31 and the upper end surface of the second connecting portion 32 are respectively connected with a first hard plate 1, and the lower end surface of the first connecting portion 31 and the lower end surface of the second connecting portion 32 are respectively connected with a second hard plate 2; a bending connecting piece 4 is arranged between the front part of the first connecting part 31 and the front part of the second connecting part 32 and between the rear part of the first connecting part 31 and the rear part of the second connecting part 32, and the bending connecting piece 4 is not directly connected with the elastic body 3; the upper end face and the lower end face of the bending connector 4 positioned at the front side are respectively connected with the front parts of the two first hard plates 1 and the front parts of the two second hard plates 2, the upper end face and the lower end face of the bending connector 4 positioned at the rear side are respectively connected with the rear parts of the two first hard plates 1 and the rear parts of the two second hard plates 2, that is, the left side and the right side of the upper end face of the bending connector 4 positioned at the front side are respectively connected with the lower end faces of the front parts of the left and the right first hard plates 1, the left side and the right side of the lower end face of the bending connector 4 positioned at the front side are respectively connected with the upper end faces of the rear parts of the left and the right second hard plates 2, and the left side and the right side of the lower end face of the bending connector 4 positioned at the rear side are respectively connected with the upper end faces of the rear parts of the left and the right two second hard plates 2, that is made of a material, that is polyethylene terephthalate.
As shown in fig. 1, the front part, the rear part and the front part and the rear part of the two first hard plates 1 and the front part and the rear part of the two second hard plates 2 are connected through one TCPF driver 5, that is, four TCPF drivers 5 in total, wherein the upper and lower TCPF drivers 5 are arranged on the front side, and the upper and lower TCPF drivers 5 are arranged on the rear side; specifically, the upper end surfaces of the front parts of the two first hard plates 1, the upper end surfaces of the rear parts and the lower end surfaces of the front parts and the rear parts of the two second hard plates 2 are respectively connected with a fixed seat 8, the left end and the right end of the TCPF driver 5 are respectively connected with the two fixed seats 8, the two ends of the TCPF driver 5 positioned at the upper part of the front side are respectively connected with the fixed seats 8 of the upper end surfaces of the front parts of the two first hard plates 1, the two ends of the TCPF driver 5 positioned at the lower part of the front side are respectively connected with the fixed seats 8 of the lower end surfaces of the front parts of the two second hard plates 2, the two ends of the TCPF driver 5 positioned at the upper part of the rear side are respectively connected with the fixed seats 8 of the upper end surfaces of the rear parts of the two first hard plates 1, and the two ends of the TCPF driver 5 positioned at the lower part of the rear side are respectively connected with the fixed seats 8 of the lower end surfaces of the rear parts of the two second hard plates 2. The whole electroactive bistable bending mechanism is of a structure which is symmetrical front and back, symmetrical left and right and symmetrical up and down.
TCPF is a polymer twisting type artificial muscle, the principle is that the twisting polymer fiber is heated and then radially expanded to cause unwinding, the unwinding motion of the fiber is converted into linear motion in the axial direction of the spiral by utilizing a spiral structure, and the TCPF driver 5 has the advantages of large deformation, large output force, low cost and the like, and can shrink after being electrified.
The stretching part 33 of the elastic body 3 is kept in a pre-stretched state, and the first hard plate 1 at the left and right sides and the second hard plate 2 at the left and right sides are connected by the bending connector 4, so that the stretching part 33 is kept in a stretched state to form an energy barrier, and meanwhile, the bending connector 4 also acts as a hinge of a bending mechanism, and the bending mechanism is in a state as shown in fig. 1 as a whole; the front part, the rear part and the front part of the two first hard plates 1 and the front part and the rear part of the two second hard plates 2 are connected through a TCPF driver 5, so that the TCPF drivers 5 are distributed in an upper state, a lower state and a front state, the two TCPF drivers 5 on the upper side are electrified to shrink the TCPF drivers 5, the bending mechanism is bent upwards, the two TCPF drivers 5 on the lower side are electrified to shrink the TCPF drivers 5, and the bending mechanism is bent downwards, so that the bending mechanism is driven to overcome the energy barrier, bi-stable motion of bi-directional bending is realized, and fish motion is simulated.
Specifically, when none of the TCPF drivers is powered on, the bending mechanism is in an unstable position with a great elastic potential energy due to the pre-stretched elastomer 3, and when the TCPF drivers 5 are powered on to shrink, the external stretching force is withdrawn, the elastic potential energy is released, after the whole stress is balanced, the bending mechanism is in one of two stable equilibrium positions with a small elastic potential energy, the bending mechanism can stay in the two stable equilibrium positions and is maintained without continuous energy input, the two stable equilibrium positions are two stable states, the two stable states respectively correspond to the two lowest energy positions, and the transition from one stable state to the other stable state is the process of crossing the energy barrier.
The electroactive bistable bending mechanism does not need continuous power supply, only needs to electrify the unilateral TCPF driver 5 during steady-state switching, has high energy efficiency, simple overall structure and light weight, does not involve the deformation of a rigid structure, has larger bending deflection angle and smaller noise, and also has high energy efficiency, simple overall structure, small volume and light weight when being applied to the bionic robot fish, the larger deflection angle of the bionic robot fish is easier to simulate the action of fish living things, the bionic structure is more true, and the biological affinity is stronger.
Embodiment two:
As shown in fig. 5, the embodiment provides a bata ray-simulated flapping wing device, which comprises an electroactive bistable bending mechanism 100 in the first embodiment, an aircraft trunk 9 and a plurality of flexible fin bars 10, wherein the electroactive bistable bending mechanisms 100 are symmetrically connected to the left and right sides of the aircraft trunk 9, the electroactive bistable bending mechanisms 100 on each side are distributed along the length direction of the aircraft trunk 9, one end, far away from the aircraft trunk 9, of each electroactive bistable bending mechanism 100 is connected with a flexible fin bar 10, and the flexible fin bars 10 are symmetrically distributed left and right.
The electric activity bistable state bending and twisting mechanism 100 is applied to the simulated batwing device, and each flexible fin bar 10 is driven to swing up and down in sequence by each electric activity bistable state bending and twisting mechanism 100 in sequence, so that the simulated batwing swimming posture is simulated, the swing amplitude is large, the bionic structure is more real, the noise is low, the biological affinity is stronger, the energy efficiency is high, the overall structure is simple, and the weight is light.
The specific number of the electroactive bistable bending mechanism 100 and the flexible fins 10 may be determined by actual use, and in this embodiment, three sets of electroactive bistable bending mechanisms 100 and three flexible fins 10 are disposed on each side of the backbone 9 of the aircraft, and one driving manner is taken as an example: the same-side TCPF drivers in the front-to-back electro-active bistable bending mechanism 100 are sequentially energized, and the electro-active bistable bending mechanism 100 from the head to the tail of the bata is sequentially driven, so that a chord-wise fluctuation flapping process is formed.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the two embodiments, and all other examples obtained by those skilled in the art without making any inventive effort are within the scope of the present invention.
Claims (7)
1. The utility model provides an electroactive bistable bending mechanism, its characterized in that includes first stereoplasm panel (1), second stereoplasm panel (2) and elastomer (3), elastomer (3) are including first connecting portion (31), second connecting portion (32) and have elasticity and be in tensile state's stretching portion (33), both ends are connected respectively about stretching portion (33) first connecting portion (31) and second connecting portion (32), the direction of stretching portion (33) is left and right directions, first connecting portion (31) up end and second connecting portion (32) up end are connected with respectively one first stereoplasm panel (1), first connecting portion (31) lower terminal surface and second connecting portion (32) lower terminal surface are connected with respectively one second stereoplasm panel (2), between first connecting portion (31) front portion and second connecting portion (32) front portion, first connecting portion (31) rear portion with second connecting portion (32) rear portion are equipped with respectively one first connecting portion, two upper end face and two lower end face (4) are located respectively before connecting portion (4) are connected with first connecting portion (4) respectively, two upper end face and lower end face (4) are located respectively before connecting portion (4) respectively hard panel (1), the rear parts of the two second hard plates (2) are connected, and the front parts and the rear parts of the two first hard plates (1) are connected with each other through a TCPF driver (5).
2. The electroactive bistable torque mechanism according to claim 1, wherein the stretching portion (33) comprises a first stretching section (331), a second stretching section (332) and a third stretching section (333), the front and rear parts of the elastic body (3) are respectively provided with a third through groove penetrating through the front end surface of the elastic body (3) and penetrating through the rear end surface of the elastic body (3) so as to form the first connecting portion (31) and the second connecting portion (32), the third stretching section (333) is formed between the two third through grooves, a first through groove (6) is arranged in the middle of the first connecting portion (31) and the first stretching section (331) is formed on the right side of the first through groove (6), a second through groove (7) is arranged in the middle of the second connecting portion (32) and the second stretching section (332) is formed on the left side of the second through groove (7), and the left and right ends of the third stretching section (333) are respectively connected with the first stretching section (331) and the second stretching section (331).
3. The electroactive bistable bending mechanism according to claim 1, wherein the front upper end face and the rear upper end face of the two first hard plates (1) and the front lower end face and the rear lower end face of the two second hard plates (2) are respectively connected with a fixing seat (8), and the left end and the right end of the TCPF driver (5) are respectively connected with the two fixing seats (8).
4. Electroactive bistable torque-mechanism according to claim 1, characterized in that said elastomer (3) is made of TPU material.
5. Electroactive bistable bending mechanism according to claim 1, characterized in that said bending connection (4) is made of PET material.
6. The simulated ray flapping wing device is characterized by comprising the electroactive bistable bending mechanism (100) according to any one of claims 1 to 5, an aircraft trunk (9) and a plurality of flexible fin strips (10), wherein the left side and the right side of the aircraft trunk (9) are symmetrically connected with a plurality of the electroactive bistable bending mechanisms (100), the electroactive bistable bending mechanisms (100) on each side are distributed along the length direction of the aircraft trunk (9), and one end, far away from the aircraft trunk (9), of each electroactive bistable bending mechanism (100) is connected with one flexible fin strip (10).
7. The simulated solar wing device of claim 6, wherein a plurality of said flexible fins (10) are symmetrically disposed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410347764.1A CN118254943A (en) | 2024-03-26 | 2024-03-26 | Electroactive bistable bending mechanism and bata-like flapping wing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410347764.1A CN118254943A (en) | 2024-03-26 | 2024-03-26 | Electroactive bistable bending mechanism and bata-like flapping wing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118405276A (en) * | 2024-07-01 | 2024-07-30 | 浙大城市学院 | Target rope net capturing system and method based on twisted fiber compaction |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118405276A (en) * | 2024-07-01 | 2024-07-30 | 浙大城市学院 | Target rope net capturing system and method based on twisted fiber compaction |
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