Double-cam single-degree-of-freedom machine fish flapping mechanism

Abstract

The invention discloses a flapping mechanism of a double-cam type single freedom degree robot fish. The flapping mechanism provides a power for the robot fish and comprises a pedestal (1), a parallel four-rod component (2), a guide block component (3), a motor (5), a drive component (6) and a transmission component (7); the motor (5) is arranged on the upper cover plate (1a) of the pedestal (1) by a motor seat (5a); the four linear lead rails of the guide block component (3) are arranged at the four supporting seats of the pedestal (1); the drive component (6) is arranged in the arc rectangle hole of the guide block component (3); the transmission component (7) is arranged on the upper cover plate (1a), the connection plate (1b) and the lower bottom plate (1c) of the pedestal (1) by a transmission shaft A (7a) and a transmission shaft B (7b); the large arm (21) of the parallel four-rod component (2) is connected with the transmission shaft A (7a) of the transmission component (7); the connection rod B (24) of the parallel four-rod component (2) is connected with the transmission shaft A (7a) and the transmission shaft B (7b) of the transmission component (7); the small arm (22) of the parallel four-rod component (2) is connected with a tail fin (4). The flapping of the invention is realized by adopting the motor to drive two eccentric wheels to move, thereby driving two slide blocks to move straightly along the lead rails; the rotation of the parallel four-rod component is realized by the matching between the racks arranged on the slide blocks and the gears on the transmission component.

Description

technical field [0001] The invention relates to a power mechanism suitable for a bionic robot fish, more particularly, a double-cam single-degree-of-freedom robot fish flapping mechanism. Background technique [0002] Through a large number of theoretical and experimental studies in vertebrate zoology and fluid mechanics, it has been found that the swimming style of fish that has evolved over hundreds of millions of years contains profound fluid mechanics and biological mechanisms. In terms of maneuverability, it has higher performance than any surface or underwater vehicle in the world today. Therefore, many well-known research institutions at home and abroad are paying more and more attention to the efficient swimming methods of various underwater fish, and have invested special manpower, material resources and financial resources to explore the research of bionic robot fish, an emerging multi-disciplinary cutting-edge technology. . [0003] A research team jointly forme...

AI Technical Summary

Problems solved by technology

However, the research found that the multi-jointed, slender shape of the fish body always produces unnecessary shaking, which increases resistance and consumes energy

[0004] A new single-degree-of-freedom flapping mechanism is proposed to solve the problems of high control precision and low efficiency of the current two-degree-of-freedom flapping mechanism. The two joints in the original mechanism are connected by a mechanical structure to reduce the control effort. Complexity

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