Magnetic-control variable-stiffness robotic fish simulating snorkeling of swim bladder

Abstract

The invention relates to the technical field of underwater robots, in particular to a magnetic control variable-stiffness robotic fish simulating swimming bladder snorkeling. The magnetic-control variable-stiffness robotic fish comprises a magnetic-control variable-stiffness tail fin module, a demagnetization module, a bionic swimming bladder module and a shell outer covering skin, wherein the shell outer covering skin covers a fish body of the magnetic-control variable-stiffness robotic fish and is used for achieving overall sealing of the robotic fish; the bionic swimming bladder module comprises four bionic swimming bladder units; the magnetic control variable stiffness tail fin module comprises a flexible tail fin, a third electromagnet and a passive tail fin, the demagnetization module comprises a power source, a DC-AC converter and a coil, variable stiffness and flexible swing of the tail fin can be effectively achieved, and compared with a gravity center adjusting mechanism, the swimming bladder snorkeling simulating mechanism has the advantages of being small in size, light in weight and the like; good movement performance is realized.

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