Telescopic type hyper-redundance series-parallel connection variable stiffness swinging and propelling device

Abstract

A telescopic type hyper-redundance series-parallel connection variable stiffness swinging and propelling device comprises a head portion, a redundant drive parallel connection mechanism and a tail fin, and the redundant drive parallel connection mechanism comprises a plate spring spine, supporting legs, flexible hinges, a first stage parallel connection mechanism upper platform, a first stage parallel connection mechanism lower platform, a second stage parallel connection mechanism upper platform, a second stage parallel connection mechanism lower platform, a third stage parallel connection mechanism upper platform, a third stage parallel connection mechanism lower platform, a fourth stage parallel connection mechanism upper platform, a fifth stage parallel connection mechanism upper platform, a sixth parallel connection mechanism upper platform and a seventh parallel connection mechanism upper platform; the center of each platform is fixedly connected with the plate spring spine; the eight flexible hinges are uniformly distributed on each platform, and the flexible hinges of the upper platform and the flexible hinges of the corresponding lower platform are connected with the supporting legs; the first stage parallel connection mechanism and the fourth stage parallel connection mechanism form a first set of parallel connection mechanism, the second stage parallel connection mechanism, the fifth stage parallel connection mechanism and the seventh parallel connection mechanism form a second set of parallel connection mechanism, the third parallel connection mechanism and the sixth parallel connection mechanism form a third set of parallel connection mechanism, and the three sets of parallel connection mechanisms are staggered with one another and telescoped. The device has the advantages of being high in thrust, continuous in movement and good in flexibility.

Description

technical field [0001] The invention relates to the field of bionic underwater robot fish and parallel mechanisms, in particular to a telescopic ultra-redundant series-parallel variable stiffness swing propulsion device. Background technique [0002] After eons of evolution, the swimming characteristics of fish surpass any man-made autonomous underwater vehicle. Therefore, when designing high-performance underwater propulsion systems, engineers invariably turn their attention to fish for design inspiration. Fish can be divided into two types according to propulsion mechanism, swimming pattern and body shape: body / caudal fin propulsion pattern (BCF) and middle fin (e.g. dorsal fin) / pair fin (e.g. pectoral fin) propulsion pattern (MPF). The BCF type fish mainly use the body and tail fin as propellers, swing the body left and right to hit the water, and use the reaction force generated by it to propel the fish body forward. Tuna, swordfish, and sharks belong to this type. Whe...

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Problems solved by technology

However, this kind of bionic robotic fish still has the following problems: due to the limitation of the fixed length of the driving mechanism, the height of each parallel mechanism cannot be designed to be very small. The number of layers of the parallel mechanism is limited, which affects the swimming smoothness of the bionic flexible fish body; in addition, each layer of the parallel mechanism needs to be equipped with a corresponding active stiffness controller for internal force adjustment, which also leads to control too complicated

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