Robotic fish with independent ring-shaped tail support and its snorkeling method

Abstract

The invention discloses a robotic fish with an independent ring tail support and a snorkeling method of the robotic fish. The robotic fish with the independent ring tail support comprises a head, a middle supporting plate, a tail, a pectoral fin and a tail fin. The head comprises a left head shell, a right head shell, a trapezoid partitioning plate, a pectoral fin rudder support, a pectoral fin rudder, a planar double-rocking-bar mechanism, a pectoral fin shaft, a pectoral fin shaft supporting part, a battery and a circuit board, and the tail comprises the ring tail support, a fish skin, a first joint, a second joint, a third joint, a first linkage disc, a second linkage disc, a rudder fixing part and a tail fin clamp. The tail fin comprises a tail fin piece and a tail fin insertion part. The pectoral fin comprises a left pectoral fin piece and a right pectoral fin piece. The robotic fish is beautiful, exquisite and vivid in shape and can be kept in a reasonable form when swimming and turning. The independent ring tail support is good in adaptability and low in cost and allowed to be independently detached and can keep the robotic fish in the form well when swimming underwater.

Description

technical field [0001] The invention relates to the technical field of bionic robot fish, in particular to a robot fish with an independent annular tail support and a snorkeling method thereof. Background technique [0002] The development of robotic fish reflects the increasing attention paid by humans to the development of marine resources. The research of robotic fish needs to combine bionics, mechanical design, material science, control technology and other disciplines. Environmental fields, military fields, and biological science fields all reflect the broad prospects of robotic fish research. Since the 1990s, robotic fish has gradually become another research hotspot in the field of robotics. [0003] In 1994, the Massachusetts Institute of Technology developed the world's first robotic fish RoboTuna, which is 1.2 meters long, contains 40 ribs, 6 DC motors, and as many as 2,843 body parts. The structure is complex and it took 3 years to complete. Since then, researche...

AI Technical Summary

Problems solved by technology

[0004] In the robot fish that has been successfully developed by the body---caudal fin drive (BCF), it can maintain a smooth and beautiful curve when swimming, and the body will not be deformed by water pressure to affect the balance under water, all of which reflect Complicated mechanical design, high-cost processing technology, or advanced materials will increase the time and money cost of laboratory manufacturing robotic fish. If the above requirements are not met, it will limit the use of robotic fish imitation fish to a certain extent Authenticity, Reliability of Constraining Lab's Research on Imitation Fish Propulsion

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