ICPF-driven centimeter level three-dimensional swimming bionic underwater minisize robot

Abstract

The invention provides an ICPF-driven centimeter-grade three-dimensional swimming simulated underwater micro-robot, comprising a control circuit and a lithium polymer battery arranged in a fish-shaped case; the back end of the case is connected with a tail fin; the tail fin is formed by a hard PVC flake, a tail fin strip ICPF driver and a soft PVC flake which are connected; an infrared sensor and a launcher are arranged at the front end of the case; the hard PVC flake is arranged in front of the case; a pectoral fin strip ICPF driver is respectively connected with the two ends of the flake; the other end of the pectoral fin strip ICPF driver is connected with the soft PVC flake equivalent to the pectoral fin end. The invention adopts a propulsion method of combining the tail part and the pectoral fin, controls advancing speed through controlling the swinging frequency of the tail fin and the pectoral fin, realizes advance through controlling the left and right swinging of the tail fin and the up and down swinging of the pectoral fin, realizes turning through controlling the tail fin to swing to the left or right, and realizes floating up and submerging through controlling the pectoral fin to swing up and down.

Description

(1) Technical field [0001] The invention relates to the fields of bionics, robots, micro-electromechanical systems, and control technologies. Specifically, it is a bionic underwater micro-robot. (2) Background technology [0002] In recent years, the research on bionic underwater robots has gained more and more attention, because people realize that by simulating the swimming of fish, tail fin propellers with high efficiency, low noise, high speed and high maneuverability can be developed. The idea of ​​using the propulsion mechanism of fish to realize the propulsion of underwater vehicles and underwater robots has gradually become a reality along with the development of bionics, materials science, control theory, fluid mechanics, image processing and other disciplines. [0003] Researchers at home and abroad have done a lot of research work on bionic underwater robots. Since MIT successfully developed the first underwater bionic robot fish RoboTuna in 1995, researchers ha...

AI Technical Summary

Problems solved by technology

However, the centimeter-level autonomous bionic micro-robot fish driven by ICPF cannot achieve three-dimensional motion, poor fitting effect, and low propulsion efficiency.

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