Bionic robot fish propelled by oscillating and twisting compound motion of pectoral fins

Abstract

The invention discloses a bionic robot fish propelled by oscillating and twisting compound motion of pectoral fins, and the configuration refers to the bionic model of Myliobatidae fishes. The bionic robot fish comprises a body part, oscillating pectoral fins and a tail part, wherein the body part is provided with a floating-sinking mechanism to achieve floating and diving of the bionic robot fish, and the floating and the diving are controlled by the tail part mounted at the rear end of the body part; the oscillating pectoral fins are mounted on two sides of the body part and adopt flexible pectoral fin skeletal structures combined by both fin rays and skeleton straight plates; and the oscillating pectoral fins can be respectively driven to conduct oscillating and twisting compound motion to obtain an effective attack angle through an oscillating driving mechanism and a twisting driving mechanism so as to obtain the pectoral fin oscillating propelled bionic robot fish which is bionically propelled. The bionic robot fish has the advantages that bionic distribution of spanwise flexibility and chordwise flexibility of fin faces is realized, oscillating movement of the pectoral fins is achieved, the controllable oscillation degree is high and the controllable oscillation frequency range is wide; and the bionic robot fish has the flexible and twisting performances.

Description

technical field [0001] The invention relates to a bionic robot fish, in particular to a bionic robot fish propelled by swinging and twisting compound motion pectoral fins, which belongs to the field of mechanical bionics. 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. During the movement of the pectoral fin undulating propulsion mode, the number of waves transmitted on the pectoral fin was greater than 1 complete wave; during the movement of the pectoral fin ...

AI Technical Summary

Problems solved by technology

The former has low controllability of fin surface deformation in the driving process, high dependence on the surrounding environment, and low adaptability; the latter, most of the driving mechanisms are more complicated, and the control system is correspondingly more complicated; the simple movement mode is used to realize the pectoral fin swing The pectoral fin swing propulsion mode of the bionic propulsion movement has few principle prototypes of the bionic robotic fish

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