Labriform mode under-actuated flexible pectoral fin bionic device

Abstract

The invention discloses a labriform mode under-actuated flexible pectoral fin bionic device. The device is provided with a fin base, fin rays and inter-fin diaphragms arranged between adjacent fin rays, wherein the fin rays comprises two side fin rays and at least one middle fin ray which is arranged between the two side fin rays; the two side fin rays are used for guiding the middle fin ray to do dorsoventral swing motion and reduce the quantity of driving joints of a pectoral fin bionic system; and a fin ray lateral swing motor, a speed reducer and a worm are arranged on a fin ray dorsoventral swing member to reduce the volume of a bionic pectoral fin and eliminate the coupling effect between fin ray lateral swing motion and dorsoventral swing motion. An orthogonal bevel gear and a motor are used as a transmission device and a driving device which are used for the swing motion of two lateral bionic fin rays, so that the pectoral fin bionic device is more compact; and a rotary damperis used for eliminating the swing motion of a middle bionic fin ray under the action of inertia force. Compared with the conventional pectoral fin bionic device, the device has smaller volume, a simpler structure and lower energy consumption and is convenient to mount and machine.

Description

technical field [0001] The invention relates to an underwater bionic robot technology, in particular to an underactuated flexible pectoral fin bionic device in a pharyngeal and jaw movement mode. Background technique [0002] The pharyngeal-jaw movement mode (Labriform Mode) is an important manipulation movement mode adopted by most teleosts. It uses pectoral fins as the main control surface to complete the fish's attitude control functions such as hovering, forward, backward, braking and turning in the water. These high-efficiency, flexible and maneuverable maneuverability are exactly what conventional propulsion underwater vehicles lack. In order to improve the maneuverability of underwater vehicles and meet the needs of marine resource development and marine environmental protection, new propulsion tools inspired by fish pectoral fins have attracted more and more attention. [0003] Through the research on the anatomical structure of the pectoral fins, the neuromuscula...

AI Technical Summary

Problems solved by technology

This bionic device mainly has problems such as complex structure of the drive and transmission system, large volume, many drive variables, and difficult control.

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