Bionic cow-nosed ray oscillating pectoral fin driven by wires of large-deformation flexible mechanism

Abstract

The invention discloses a bionic cow-nosed ray oscillating pectoral fin driven by wires of a large-deformation flexible mechanism. The oscillating pectoral fin comprises a pectoral fin skin and a pectoral fin skeleton arranged in the pectoral fin skin, wherein the skeleton consists of a baseplate and fin rays; the baseplate is arranged in the chordwise direction of a bionic pectoral fin; fin rays with similar spanwise section shape to the original fin rays of the cow-nosed ray oscillating pectoral fin are mounted in the front part, in the middle and at the rear part of the baseplate in the pectoral fin spanwise direction; all fin rays are driven by wires to oscillate up and down; one or more soft limbs with similar chordwise section shape to the original fin ray of the cow-nosed ray oscillating pectoral fin is/are arranged on two sides of each fin ray; and all the soft limbs, as well as all the soft limbs and the adjacent fin rays, are connected through elastic thread ropes, so that the bionic cow-nosed ray oscillating pectoral fin achieves mild, smooth and continuous fluctuation transmission in the chordwise direction in the movement process, which more fits to the fluctuation of the natural original cow-nosed ray pectoral fin. The bionic cow-nosed ray oscillating pectoral fin has the advantages that spanwise flexible distribution and flexible deformation of the bionic fin rays are realized, and chordwise flexible distribution of the bionic pectoral fins and fluctuation transmission in the movement process are also realized.

Description

technical field [0001] The invention relates to a bionic swinging pectoral fin, specifically, a large-deformation flexible mechanism is used to form the internal driving and supporting framework of the swinging pectoral fin, so as to realize the three-dimensional soft swinging of the pectoral fin of the bullnose ray that can simulate swimming in the ocean by swinging and propelling the pectoral fin out of shape. Background technique [0002] The propulsion mode of fish can be divided into the body / caudal fin propulsion mode and the middle fin / opposite fin propulsion mode according to the different propulsion generating parts. The locomotion mode with the pectoral fin as the main propulsion source belongs to the middle fin / opposite fin propulsion mode. The pectoral fin propulsion mode can be further divided into the pectoral fin wave propulsion mode and the pectoral fin swing propulsion mode according to the difference in the number of waves transmitted on the pectoral fin. ...

AI Technical Summary

Problems solved by technology

[0003] At present, the bionic robotic fish adopting the bovine-like pectoral fin swing propulsion mode is limited by the level of drive and processing. Rigid mechanisms or simplified mechanisms with certain flexibility are often used to realize the swing motion of bionic pectoral fins, which cannot fully simulate the complex flexible characteristics and flexible deformation of swing pectoral fins in nature, so that the role of flexibility in bionic swing pectoral fins has not been fully utilized. There is an important factor in the propulsion performance of the bionic swinging pectoral fins being much lower than that of the natural prototype

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