Robotic fish with independent chain-shaped tail support and snorkeling method of robotic fish

Abstract

The invention discloses a robotic fish with an independent chain-shaped tail support and a snorkeling method of the robotic fish. The robotic fish with the independent chain-shaped 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 pat, a battery and a circuit board, and the tail comprises the chain-shaped 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 chain-shaped tail support is compact in structure, convenient to machine 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 chain 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. The fields of environment, military, and biological science all reflect the broad prospects of robotic fish research. Since the 1990s, it 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, researchers at home and abroad...

AI Technical Summary

Problems solved by technology

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

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