Underwater robot based on flapping

摘要

Disclosed is an underwater robot based on flapping comprising: an actuator including a smart material and directional material, wherein the smart material is changed in its shape according to an external signal, and the directional material restricts a deformation in a specific direction; a body connected with the actuator; and a controller which makes the actuator perform a first stroke in a direction, and a second stroke in another direction being different from that of the first stroke; wherein the actuator performs at least one deformation of bending and twisting according to position of the smart material and directionality of the directional material, and furthermore enables to simultaneously perform the smooth bending and twisting motion with the simple structure by adjusting the position of the smart material functioning as the active component, and the directionality of the directional material functioning as the passive component.

主权项

1. An underwater robot, comprising:
an actuator having a first axis, a second axis orthogonal to the first axis, and a central horizontal plane orthogonal to the second axis, the actuator including:
a first smart material having a longitudinal axis parallel with the central horizontal plane of the actuator and orthogonal to the first and second axes, and a second smart material having a longitudinal axis parallel with the central horizontal plane of the actuator and the longitudinal axis of the first smart material, the first smart material bending the actuator in a first direction and the second smart material bending the actuator in a second direction, andan anisotropic directional material in the central horizontal plane of the actuator that twists the actuator when the first and second smart materials bend the actuator,wherein each of the first and second smart materials changes its shape according to an external signal, and the first directional material restricts a deformation of the actuator; a body connected with the actuator; and a controller which makes the actuator perform a first stroke in the first direction, and a second stroke in the second direction; wherein the first and second smart materials extend from the body into the actuator, and the actuator simultaneously bends and twists according to positions of the first and second smart materials and a directionality of the anisotropic directional material.