Active variable stiffness pectoral fin based on nylon artificial muscles and bionic underwater robot

Abstract

The invention discloses an active variable stiffness pectoral fin based on nylon artificial muscles and a bionic underwater robot. The active variable stiffness pectoral fin comprises a front edge finray, a middle fin ray and a tail fin ray which are sequentially arranged; a front flexible fin surface is arranged between the middle fin ray and the front edge fin ray; a tail flexible fin surface is arranged between the middle fin ray and the tail fin ray; a plurality of through holes are formed in the front flexible fin surface and the tail flexible fin surface in the direction perpendicular to the middle fin ray; a nylon artificial muscle is arranged in each through hole, the nylon artificial muscle in the front flexible fin surface is connected to the front edge fin ray and the middle fin ray, and the nylon artificial muscle in the tail flexible fin surface is connected to the middle fin ray and the tail fin ray. A biological active variable stiffness mechanism is fully utilized, active continuous regulation and control of pectoral fin stiffness are achieved by simulating a muscle relaxation or contraction state similar to a biological state through nylon artificial muscles, andthe fluctuation amplitude and the fluctuation number of propelling waves during pectoral fin flapping are adjusted.

Description

【Technical field】 [0001] The invention belongs to the technical field of underwater robots, and relates to an active variable stiffness pectoral fin based on nylon artificial muscles and a bionic underwater robot. 【Background technique】 [0002] Underwater unmanned detectors have been widely used in tasks such as acquisition of ocean / submarine environment information, fixed / moving target detection, identification, positioning and tracking, and regional alert. At present, the existing underwater unmanned thrusters are limited by the traditional propeller propulsion method, which has high working noise, large environmental disturbances, difficulty in changing the navigation attitude flexibly, and poor obstacle avoidance performance. [0003] The shape and movement rules of fish are undoubtedly the most suitable for the underwater environment. The extraordinary swimming ability of fish is beyond the reach of traditional underwater propellers. Bionic underwater detection robots...

AI Technical Summary

Problems solved by technology

This type of bionic pectoral fin has a relatively heavy weight and a relatively complex structure. Due to structural limitations, the spanwise and chord stiffness of the rigid pectoral fin cannot be actively changed, resulting in a relatively single movement mode of the pectoral fin, which is difficult to adapt to the complex underwater environment.

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