Modularized biomimetic robotic dolphin push mechanism

Abstract

The invention relates to a modularized biomimetic robotic dolphin push mechanism which comprises a framework, a direct-current motor, a transmission gear fixed, a pinion, a spindle, a set of crank and slide block mechanism and a set of gear rack mechanism, wherein the framework is fixed at one side of the framework; the transmission gear is fixed on an output shaft of the direct-current motor; the pinion is engaged with the transmission gear; the spindle is fixed with the pinion; the set of crank and slide block mechanism is driven by the spindle; and the set of gear rack mechanism is driven by a slide block in the crank and slide block mechanism. With the adoption of the modularized biomimetic robotic dolphin push mechanism, typical back abdominal type fluctuation motions of a dolphin are simulated through controlling the direct-current motor, the flapping motions of the robotic dolphin can be realized by relying on the one-way rotation of the direct-current motor, and the swinging frequency of the robotic dolphin is regulated through changing the rotation speed of the motor. The modularized biomimetic robotic dolphin push mechanism has the advantages of simple structure and lighter weight, is not only easily connected in series to form a multi-joint robotic dolphin tail flapping mechanism so as to realize the back abdominal type motions on a vertical surface, but also can be used as a push mechanism of a robotic fish to realize lateral swinging, and self gravity is not needed to be overcome during simulating the fish to swim, so that the power loss can be reduced.

Description

technical field [0001] The invention relates to a propulsion mechanism of a modular bionic robot dolphin, in particular to a tail flapping mechanism of a robot dolphin based on a crank slider. Background technique [0002] As a machine system that imitates the movement of biological dolphins, the robot dolphin is a highly developed product of robotics and bionics. Compared with traditional propeller-based underwater vehicles, robotic dolphins have the advantages of high efficiency, high maneuverability, and low noise. [0003] The flapping movement of the tail of the robot dolphin in the vertical plane is generally realized by a multi-joint series-connected up and down flapping mechanism. The up and down flapping motion of the tail is the main source of propulsion for the robot dolphin to swim forward. The swimming speed of the robot dolphin Only related to the frequency of tail flapping, the higher the flapping frequency, the faster the swimming speed. In order to increas...

AI Technical Summary

Problems solved by technology

At home and abroad, due to many difficulties in the development and development of robot dolphins, the theoretical and technical research on robot dolphins is still in its infancy

Although there have

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