Fish-like propelling robot with prior stability

An underwater robot and stability technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as increasing resistance, shaking, and energy consumption, and achieve the effects of reducing resistance, increasing frequency, and reducing resistance

Inactive Publication Date: 2003-09-03
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the research found that the multi-jointed, slender shape of the fish body always produces unnecessary shaking, which increases resistance and consumes energy

Method used

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  • Fish-like propelling robot with prior stability
  • Fish-like propelling robot with prior stability
  • Fish-like propelling robot with prior stability

Examples

Experimental program
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Embodiment Construction

[0026] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0027] See figure 1 , 3 As shown, a kind of fish-like propulsion underwater robot with priority of stability in the present invention is composed of five parts of fish body 1, propulsion device 2, big arm 3, tail handle 4 and caudal fin 5, and propulsion device 2 is placed on the Inside the fish body shell 1 , the big arm 3 , tail peduncle 4 and caudal fin 5 are placed outside the fish body shell 1 . The fish body shell 1 maintains the high-stability hydrodynamic shape of the SPC, and the SPC propulsion part is composed of a propulsion device 2 , a boom 3 , a tail shank 4 and a tail fin 5 . The SPC propelling part can generate relative motion under the drive of the servo motor, and the caudal fin 5 at the working end can generate motion according to the control law of the SPC.

[0028] The SPC kinematics structure of the present invention has two deg...

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PUM

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Abstract

A stability-preferable underwater robot propelled by fish manner is composed of fish-shaped main body, propelling unit fixed in main body, tail fin, great arm for connecting main body with tail fin, and handle of tail fin. Its SPC propelling unit consisting of propeller, great arm, tail fin and handle of tail fin can generate relative movement under the driven of servo motor to make tail fin moveby the SPC control rule. Its advantages are high stability, and high speed.

Description

technical field [0001] The invention relates to a robot with a novel bionic propulsion structure, in particular to a fish-like propulsion underwater robot with priority on stability. technical background [0002] Through a large number of theoretical and experimental studies in vertebrate zoology and fluid mechanics, it has been found that the swimming style of fish that has evolved over hundreds of millions of years contains profound fluid mechanics and biological mechanisms. In terms of maneuverability, it has higher performance than any surface or underwater vehicle in the world today. Therefore, many well-known research institutions at home and abroad are paying more and more attention to the efficient swimming methods of various underwater fish, and have invested special manpower, material resources and financial resources to explore the research of bionic robot fish, an emerging multi-disciplinary cutting-edge technology. . [0003] A res...

Claims

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Application Information

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IPC IPC(8): B25J9/06
Inventor 王田苗梁建宏魏洪兴
Owner BEIHANG UNIV
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