The invention discloses a bionic manta ray pectoral fin-oriented folding type electrostatic hydraulic driver, a bionic manta ray pectoral fin and a parameter design method.The folding type electrostatic hydraulic driver comprises a flexible oil storage sealing bag, dielectric fluid and electrodes, the flexible oil storage sealing bag is divided into an electrode area and a fluid deformation area, and the dielectric fluid is arranged in the electrode area; electrodes are symmetrically attached to the two sides of the electrode area, and the fluid deformation area comprises two deformation cavities; the electrodes are attracted, the dielectric fluid flows from the electrode area to the fluid deformation area, the two deformation cavities expand, the output angle of the driver is increased, and in the bionic manta ray pectoral fin, phase difference is generated by controlling the output angle of the folding type electrostatic hydraulic driver, and propulsive force is formed; and then the driving angle design is optimized by changing parameters such as the content of liquid in the driver and the length of a deformation cavity, and the output force of the folding type electrostatic hydraulic driver is calculated in combination with the input voltage, so that the high efficiency and scientificity of the driver design process are realized, the experiment dependence is reduced, and the design efficiency is improved.
本发明公开了一种面向仿生蝠鲼胸鳍的折叠式静电液压驱动器、仿生蝠鲼胸鳍及其参数设计方法,所述折叠式静电液压驱动器,包括柔性储油密封袋、电介质流体和电极,柔性储油密封袋分为电极区域和流体变形区域,电极区域两侧对称附着有电极,流体变形区域包括2个变形腔室;电极吸合,电介质流体从电极区域流向流体变形区域,2个变形腔室膨胀,增加驱动器的输出角度,在仿生蝠鲼胸鳍中,通过控制折叠式静电液压驱动器的输出角度产生相位差,形成推进力;再根据改变驱动器内部液体含量与变形腔室长度等参数,优化驱动角度设计,结合输入电压计算折叠式静电液压驱动器的输出力,实现驱动器设计过程的高效性与科学性,减少实验依赖,提高了设计效率。
Folding electrostatic hydraulic driver for bionic manta ray pectoral fin, bionic manta ray pectoral fin and parameter design method of bionic manta ray pectoral fin
一种面向仿生蝠鲼胸鳍的折叠式静电液压驱动器、仿生蝠鲼胸鳍及其参数设计方法
2025-04-22
Patent
Electronic Resource
Chinese
European Patent Office | 2025
|European Patent Office | 2024
|CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin
DOAJ | 2023
|Pectoral Fin Modeling of a Robotic Manta
Springer Verlag | 2025
|