Porpoising robotic dolphin

Abstract

The invention discloses a porpoising robotic dolphin, which is characterized by comprising a rigid body shell, a rigid aluminum skeleton, a dorsal fin, a neck joint mechanism, a balance slide block mechanism, a pectoral fin mechanism, a control circuit board, a dorsoventral propulsive mechanism, a head shell, a power supply device, a pectoral fin, a caudal peduncle shell and a caudal fin, wherein the rigid aluminum skeleton and the dorsal fin are arranged on the rigid body shell; the neck joint mechanism, the balance slide block mechanism, the pectoral fin mechanism, the control circuit board and the dorsoventral propulsive mechanism are arranged on the skeleton; the head shell is arranged on the neck joint mechanism; the power supply device is arranged on the balance slide block mechanism; the pectoral fin is arranged on the pectoral fin mechanism; and the caudal peduncle shell and the caudal fin are arranged on the dorsoventral propulsive mechanism. According to the porpoising robotic dolphin, by the output movement of a direct current motor and a steering engine, the pitching swinging of a head, the rotation of two DOFs (degree of freedom) of left and right pectoral fins, and the vertical swinging of two caudal joints are implemented, so that the robotic dolphin can finally jump out of water. In one aspect, the invention provides an experimental platform for studying the hydrodynamics, swimming mechanism and control method for the movement of the dolphin; and in another aspect, the invention provides a technical base for the development of an efficient and fast underwater propulsor.

Description

technical field [0001] The invention relates to a diving robot dolphin. Background technique [0002] Biological dolphins have superb athletic performance. With the deepening of research, people have increasingly found that the athletic performance of dolphins is higher than that of ordinary fish in many aspects. They can complete many difficult movements such as jumping out of the water and turning in the air. From the perspective of engineering technology, if we can use the existing mechanical, electronic, computer, control and other means to develop a set of bionic robots that imitate the movement of dolphins, it will be of great significance both in theory and in practice. At present, robotic dolphins have aroused widespread interest and keen attention of researchers in the field of underwater bionic robots. The research on robotic dolphins has developed from the initial theoretical analysis and simple functional imitation to the pursuit of the motion performance of real...

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