Biomimetic robot fish and control method thereof
A control method and technology for robotic fish, applied in the field of bionic robotic fish, can solve the problems of high driving voltage of piezoelectric ceramics, limitation of swing amplitude, difficulty in realizing self-contained power supply and autonomous swimming without cables, etc., and achieve a good bionic effect. , control flexible effects
Inactive Publication Date: 2019-07-02
TONGJI UNIV
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Problems solved by technology
[0006] However, the traditional piezoelectric materials have the following two main problems: 1) The amount of deformation generated is small. When using this material as the driver of the bionic robot fish, it is necessary to design a displacement amplification device to make the caudal fin produce a larger amplitude. Swing increases the volume and weight of the robotic fish; 2) and introduces a rigid body transmission structure, which increases the design complexity of the robotic fish and the consumption during energy transfer; 3) piezoelectric ceramics require a high driving voltage, making the bionic It is not easy for robot fish to realize its own power supply and autonomous swimming without cables
In this invention patent, although the MFC material is used as the driving layer of the bionic fish, there is no need to design a mechanical transmission device to amplify the displacement, which simplifies the structure of the bionic robotic fish, but only one layer of piezoelectric driving layer is provided. The side setting prevents the driving layer from being able to flexibly drive the swing of the bionic fishtail, and at the same time its swing amplitude is also limited to a certain extent, which makes it impossible to better simulate the fishtail.
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[0043] The implementation of the present invention will be illustrated by specific specific examples below, and those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Although the description of the invention will be presented in conjunction with a preferred embodiment, it is not intended that the features of the invention be limited to that embodiment only. On the contrary, the purpose of introducing the invention in conjunction with the embodiments is to cover other options or modifications that may be extended based on the claims of the present invention. The following description contains numerous specific details in order to provide a thorough understanding of the present invention. The invention may also be practiced without these details. Also, some specific details will be omitted from the description in order to avoid obscuring or obscuring the gist of the present inventio...
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The invention relates to a biomimetic robot fish. The biomimetic robot fish comprises a head and a tail, wherein the head is internally provided with a control system; the tail comprises tail fins andis internally provided with two driving components; the two driving components are symmetrically arranged along the width direction of the tail; the control system separately controls swing amplitudeand frequency of each driving component according to the amplitude and the frequency of voltage, and further controls the motion of the biomimetic robot fish. According to the biomimetic robot fish provided by the invention, the control system separately controls the swing amplitude and frequency of each driving component according to the amplitude and the frequency of the voltage, so that higherflexibility in control is realized and a better biomimetic effect is realized.
Description
technical field [0001] The invention relates to a bionic robot fish, in particular to a bionic robot fish driven by piezoelectric composite materials (Macro Fiber Composites) and a control method thereof. Background technique [0002] With the exploration and development of marine resources, the research of underwater robot technology has attracted more and more attention. Fishes have attracted extensive attention of researchers because of their high efficiency, high maneuverability and low noise during swimming. [0003] Traditional bionic robot fish mostly use servo motor drive to realize the fish movement mode. Although it has the advantages of strong driving force and mature control technology, it also has defects such as large size, high energy consumption, high noise, and low efficiency. [0004] In order to better imitate the movement of fish, people began to use artificial muscles to simulate the flexible body structure of fish to realize bionic drive. The artifici...
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Login to View More IPC IPC(8): B63H1/36B63H21/21
CPCB63H1/36B63H21/21B63H2021/216
Inventor许春权陈迪
OwnerTONGJI UNIV