Shape-controllable underwater biomimetic propulsion device

Abstract

The invention discloses a shape-controllable underwater biomimetic propulsion device. The device comprises a frame consisting of a group of symmetric four-link structures and a coating film. The shape of the biomimetic propulsion device is smoothly and continuously changed according to environments such as direct flow, reverse flow, wind wave, tide and vortex and different required tasks such as cruising, linear acceleration and turning while a robot moves, and response is made to a continuously changing swimming condition and task characteristics; the function of the biomimetic propulsion device can be improved by changing the shape of the biomimetic propulsion device, and the device has long-endurance long-voyage capacity and also has high-speed and high-mobility propulsion capacity so as to greatly improve the propulsion performance and improve the adaptability to the environment. The shape change and the task execution of the biomimetic propulsion device can be simultaneously performed, and the robot is not required to be taken out of an operating environment for manual adjustment.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to a device capable of controlling the shape change of a bionic propulsion device so as to improve propulsion performance. Background technique [0002] "Underwater bionic propulsion device" is the underwater bionic propulsion device. Due to its high-efficiency propulsion, high maneuverability and high stealth characteristics, it has important application prospects in underwater exploration, disaster relief and other fields. A popular field of research. [0003] Underwater bionic robots often need to work in complex underwater environments. Therefore, bionic underwater vehicles must have long range, high maneuverability, high stability, and high-speed propulsion capabilities to complete various tasks such as efficient long-range cruises, high-speed cruises, penetration maneuvers, and stable operations. It is difficult for the lower bionic propulsion device t...

AI Technical Summary

Problems solved by technology

However, although traditional underwater propulsion devices use fish fins as bionic objects, their shapes are fixed. It is difficult for such bionic propulsion devices to maintain good propulsion performance and maneuverability when moving.

That is to say, in the same water environment, the robot can only use a bionic propulsion device of one shape to perform different motion tasks, such as cruising, linear acceleration, and turning, which cannot make the robot perform optimally in all tasks. Propulsion performance and maneuverability; in different water environments, such as downstream, upstream, wind and waves, tides, vortex, etc., when the robot performs the same movement, the adaptability of the fixed-shaped bionic propulsion device to the turbulence of different water flows and the direction of water flow Very low, it cannot make the robot achieve the best propulsion performance and maneuverability when performing tasks in different environments

Moreover, for the traditional robot bionic propulsion device, if the shape of the bionic propulsion device needs to be changed to complete the required task or adapt to the complex environment, the robot can only be separated from the working area and then replaced artificially

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