Tail fin propelled autonomous swimming bionic robotic fish based on composite connecting rod mechanism

Abstract

The invention relates to a tail fin propelled autonomous swimming bionic robotic fish based on a composite connecting rod mechanism. The bionic robotic fish comprises a fish head assembly, a fish tail skeleton, a tail fin, a tail swinging mechanism, a pectoral fin mechanism, a sinking and floating mechanism and a control module. The pectoral fin mechanism and the control module are arranged in the fish head assembly, the fish tail framework is fixedly connected with the fish head assembly, the tail swinging mechanism and the sinking and floating mechanism are arranged in the fish tail framework, and the tail fin is connected with the fish tail framework and the tail swinging mechanism; the control module controls movement of the tail swinging mechanism, the pectoral fin mechanism and the sinking and floating mechanism through closed-circuit feedback, drives the tail fin and the fishtail framework to complete swinging action, drives the pectoral fin to complete flapping action, and meanwhile adjusts the pitching angle of the fish body to achieve floating and diving. According to the bionic robotic fish, the compound motion of transverse movement of the tail handle and swinging of the tail fin is achieved through the single motor, the swinging track of the fish tail is highly fitted, autonomous swimming is achieved in combination with the control module, and the flexibility and simulation degree of the bionic robotic fish are greatly improved; the propelling efficiency is high, the maneuverability is high, the structure is novel, and the innovativeness is high.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a caudal fin propulsion autonomous swimming bionic robotic fish based on a composite link mechanism. Background technique [0002] In the process of ocean development and exploration, a variety of autonomous underwater vehicles have emerged. Compared with ordinary underwater propellers, the swimming of fish has the advantages of high propulsion efficiency, good maneuverability, and good concealment performance. With the development of multiple disciplines such as mechanics, electronics, materials, computers, bionics and the formation of interdisciplinary in recent years, robotic fish, as a new type of bionic underwater vehicle, realizes the underwater vehicle by imitating the movement of fish. It is convenient for us to conduct research on underwater exploration, underwater rescue, and underwater operations. [0003] According to the different driving parts of swimming, f...

AI Technical Summary

Problems solved by technology

Most of the bionic robot fish tail adopts a multi-joint serial drive method, and controls the swing angle and speed of each fish body by controlling the movement of each motor, so as to fit the swimming body curve of the fish, but this method is complicated to control , it is difficult to flexibly simulate the movement of fish tail

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