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A tensioning integral swing propulsion mechanism

A technology of propulsion mechanism and tensioning whole, applied in the direction of non-rotating propulsion elements, etc., can solve the problem that the flexible fish body is difficult to rigidity, and achieve the effect of natural and smooth mechanical movement, eliminating mechanical wear and friction, and reducing the demand for driving force.

Active Publication Date: 2019-01-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

But once the fish body is manufactured, it is difficult to adjust the stiffness of the flexible fish body

Method used

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  • A tensioning integral swing propulsion mechanism
  • A tensioning integral swing propulsion mechanism
  • A tensioning integral swing propulsion mechanism

Examples

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Embodiment 1

[0022] In this embodiment, BCF fish is used as the bionic object. The tensegrity integral swing propulsion mechanism can realize the flexibility of the BCF fish and use the vibration mode of the fish body to drive. In addition, through its series-parallel structure, the robotic fish can realize the distribution of stiffness and adjust the stiffness through the variable stiffness principle of "redundantly driving the internal force of the parallel mechanism to change the stiffness".

[0023] Such as figure 1 As shown, a tensegrity integral swing propulsion mechanism includes a head 1, a flexible trunk 2 and a tail 3, the head 1 is connected to the tail 3 through the flexible trunk 2, a driving system is arranged in the head 1, and the flexible The torso 2 includes multiple sets of tensioned floating flexible joints, and each set of tensioned floating flexible joints includes a base platform, a driven platform and multiple sets of tension elements, and the upper structure of th...

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Abstract

The invention relates to a tensioning integral swing propulsion mechanism comprising a head, a flexible torso and a tail, the head is connected with the tail by the flexible torso, a driving system isarranged in the head, the flexible torso comprises a plurality of sets of tensioned floating flexible joints, and each set of tensioned floating flexible joints comprises a base platform, a driven platform and a plurality of sets of tension elements, wherein the upper structure of the base platform and the lower structure of the driven platform are connected by a plurality of sets of horizontal tension elements, the upper structure of the base platform and the upper surface of the driven platform are connected by a plurality of sets of axial tension members, so that the driven platform can besuspended and supported, and each set of floating flexible joints is sequentially connected in series with each other. The invention simplifies the design, the mechanical movement is naturally smooth, and the mechanical transmission efficiency is high. The tensioning integral swing propulsion mechanism can realize the bionics of fish, snake and the like, and can also be used in the robot arm andthe like.

Description

technical field [0001] The invention specifically relates to a tension integral swing propulsion mechanism. Background technique [0002] In nature, fish have swimming properties such as fast, efficient and high maneuverability. This perfect physical structure and excellent swimming performance have become the focus of scientific research, and more and more researchers are paying attention to and devoting themselves to the development of bionic robotic fish propulsion devices. The performance of this bionic robotic fish propulsion device is far superior to the swimming performance and maneuverability of conventional artificial underwater vehicles, and its adaptability to the environment is also stronger. It has important roles in ocean survey, ocean salvage and military fields. Value. [0003] The swimming modes of robotic fish are roughly divided into body / caudal fin swing propulsion (BCF) and middle fin / opposite fin swimming modes. Since most fish adopt the BCF mode as ...

Claims

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Application Information

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IPC IPC(8): B63H1/36
CPCB63H1/36
Inventor 姜洪洲陈炳兴
Owner HARBIN INST OF TECH
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