A modular bionic underwater robot based on fully flexible pectoral fins

Abstract

The invention discloses a novel modular bionic underwater robot based on full-flexible pectoral fins. A hydrodynamic module of eagle ray pectoral fins is analyzed, and motion of the pectoral fins is decomposed into vertical bending flapping in the vertical body longitudinal axis direction and twisting motion taking the vertical body longitudinal axis direction as the axis. The whole robot comprises a sectioned main body, a left flexible pectoral fin module, a right flexible pectoral fin module and a tail fin module, and a group module is formed by connecting fin connecting parts; the left and right flexible pectoral fin modules are identical in structure and are in mirror symmetry; a pectoral fin framework adopts a structure similar to that of a plane rib, a symmetrical airfoil is taken as the basic shape, and the pectoral fin modules with streamline sections are spliced through serial connection of straight pectoral fin trunk bones and steel wires. A large steering engine and a small steering engine are arranged at the root and the tip of each pectoral fin to control vertical flapping and twisting motion of each pectoral fin. Through adjustment of motion amplitude, motion frequency and phase difference of the two steering engines of each pectoral fin, different pectoral fin motion postures can be realized, and fish body motion can be finished better.

Description

technical field [0001] The invention belongs to a bionic underwater robot driven by flexible pectoral fins, and also belongs to a modular design machine, specifically, a modular bionic underwater robot based on a fully flexible pectoral fin. Background technique [0002] Bionic fish is an important field of robot (fish) research. After hundreds of millions of years of long evolution, fish have formed a nearly perfect physiological structure and movement mode for traveling in water. By virtue of their body structure with excellent hydrodynamic performance, they obtain extremely high propulsion efficiency and maneuverability, and their performance is much higher than that of propeller propulsion systems. Among them, the robotic fish with pectoral fins as the main propulsion source has attracted extensive attention from researchers due to its advantages such as high propulsion efficiency, high turning maneuverability, and motion stability. Due to these advantages of fish, the...

AI Technical Summary

Problems solved by technology

Specifically, at present, the drive, transmission mechanism, and middle body of the bionic fish prototype using the pectoral fin swing propulsion mode are mostly rigid and separated, which cannot produce the overall gradual and flexible deformation, resulting in insufficient flexibility in the pectoral fin movement process.

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