Bionic Locomotion Method for Bionic Ray Robot Based on Multiple Pairs of Parallel Pectoral Fins of MPF

Abstract

This is a bionic locomotion method based on MPF ​​multi-pairs parallel pectoral fin bionic ray robot, which belongs to the research field of robots. The main structure of its main body includes a carbon fiber main body base plate, control component box, resin printing shell, water pressure sensor, gyroscope, camera; the pectoral fin structure includes pectoral fin leaves, L-shaped brackets, U-shaped brackets, bearings, steering gear brackets, Flange, underwater steering gear. The robot has high flexibility, and adopts wireless remote control to perform bionic swimming, so as to realize the rapid adjustment of the motion path. The MPF motion model research of the simulated ray, while achieving maneuverability and stability, improves the propulsion efficiency, and explores the motion control mechanism of the bionic fish robot under different MPF motion parameters. It has important research significance and application value for concealment and camouflage, underwater exploration, underwater rescue and other fields.

Description

technical field [0001] The invention belongs to the application field of robotics, and specifically relates to a bionic motion method based on MPF ​​multiple pairs of parallel pectoral fin bionic rays robot, which can be applied to observe wild life activities in a natural environment and provide a new solution for field research. In addition, it can also be applied to other fields such as business and scientific research. Background technique [0002] Robots adapting to various complex underwater environments is one of the most cutting-edge topics in the field of robotics research today. It integrates many disciplines such as machinery, electronics, computers, materials, sensors, control technology and artificial intelligence, reflecting the development of a country. The level of intelligence and automation research is also an important symbol of a country's high-tech strength, and various developed countries have invested heavily in research in this field. [0003] The pe...

AI Technical Summary

Problems solved by technology

This type of bionic ray robot has limited functions and strong correlation between the movements of the pectoral fins, so it cannot achieve specific independent movement, which limits the dexterity of the bionic ray to a certain extent.

However, a bionic robot fish with variable stiffness, non-serial and parallel pairs of pectoral fins and its bionic movement mode have not been reported, nor have they been studied.

Images