Biomimetic robotic dolphin

Abstract

The invention discloses a biomimetic robotic dolphin. The biomimetic robotic dolphin comprises a beak part, a head shell, a pectoral fin mechanism, a main advancing mechanism, a tail part, a control part and a dolphin skin, wherein the beak part, the head shell and the pectoral fin mechanism form a streamlined head for the robotic dolphin; a left pectoral fin and a right pectoral fin are arranged on the two sides outside the head of the robotic dolphin and driven by six steering engines to swing, flap and turn respectively; the main advancing mechanism consists of a main flapping mechanism, a turning mechanism, a main advancing mechanism shell, a main advancing mechanism rubber pipe, a supporting frame and a dorsal fin which are driven by a direct current motor and the steering engines to realize flapping and turning of the body; the tail part comprises connecting nuts, a tail part skeleton and a tail fin flapping mechanism which are driven by the steering engines to realize the flapping of the tail fin; the control part consists of a control board, a communication module and a motor driver and is used for controlling the movement of the dolphin; and the dolphin skin is sleeved outside the mechanical structure of the robotic dolphin to realize integral sealing. The biomimetic robotic dolphin has the advantages of compact structure, realistic appearance and capability of providing an experiment platform for manufacturing tools for underwater operation.

Description

technical field [0001] The invention relates to an electromechanical integration device, in particular to a robot dolphin imitating the motion of a dolphin. Background technique [0002] With the continuous increase of human production and scientific research activities in the underwater environment, the tasks of underwater operations have undergone great changes, and many new requirements have been put forward. The original underwater detection, operation, and delivery devices are difficult to meet complex underwater operations. The requirements of the task and the way of manual operation have brought direct or indirect damage to human safety in some cases. In recent years, with the continuous progress of bionics and robotics research, research on bionic underwater robots integrating bionic underwater propulsion technology has attracted attention. Compared with ordinary underwater propellers, fish / dolphin swimming has the advantages of high efficiency, high maneuverability...

AI Technical Summary

Problems solved by technology

The pectoral fins are usually designed as a pair, and each pectoral fin has two degrees of freedom, which limits the flexibility of the pectoral fins to some extent

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