Dual-drive bionic pectoral fin framework

Abstract

The invention discloses a dual-drive bionic pectoral fin framework which comprises a rack, a first moving joint, a second moving joint and a pectoral fin-like swing plate. The first moving joint comprises a front swing rod, a front sliding rod, a front driving shaft and a framework connecting block. The second moving joint comprises a rear swing rod, a bearing base and a rear driving shaft. The pectoral fin-like swing plate comprises a spanwise rib plate, a first chordwise rib plate, a second chordwise rib plate, a third chordwise rib plate and a swing plate. The dual-drive bionic pectoral fin framework is simple and compact in structure and smooth in motion, and if the dual-drive bionic pectoral fin framework is added on a bionic robot fish, the facts that the bionic robot fish is high in cruising swimming efficiency and flexible in corner turning can be achieved. According to the dual-drive bionic pectoral fin framework, transmission motion of a driving wave from front to back of the pectoral fin framework is achieved by two chordwise driving fin bars, each chordwise driving fin bar is driven by only one motor, the number of driving sources is reduced, controlling is simple, each chordwise driving fin bar is driven by using the independent motor, the fact that the parameters of swing frequency, swing amplitude, phase different angles and the like of each chordwise driving fin bar are flexible and controllable is achieved.

Description

technical field

[0001] The invention relates to a dual-drive bionic pectoral fin skeleton, more particularly a flexible pectoral fin skeleton capable of simulating the deformation of the pectoral fins of the bullnose ray in the ocean, and belongs to the technical field of underwater bionic propellers. Background technique

[0002] In nature, according to the different parts of the body used for propulsion, the movement of fish can be divided into two main modes: ①Propulsion mode of body and caudal fin - using the bending wave of the body or the periodic reciprocating flapping of the caudal fin to generate propulsion; ② Propulsion mode of middle fins and opposite fins—use the periodic flapping or fluctuation of pectoral fins, pelvic fins or dorsal fins to generate propulsion. Therefore, the robotic fish developed in the field of bionic research can also be divided into these two categories. The swinging propulsion mode of the pectoral fins of the bullnose ray belongs to the ...

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