Single-joint Underwater Robot Fish Modular Design
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Solution Overview
Problem
Existing single-jointed underwater robot fish have limited battery life and complex structures, making them unsuitable for long-term and long-range tasks, particularly in ocean environments, due to their high cost, complexity, and weight.
Innovation Solution
A single-jointed underwater robot fish design featuring a bionic fish-shaped casing with a sealed structure, a main board cabin for image collection and motion control, a motion control cabin with a triaxial linkage device for balance adjustment, and a battery cabin for power supply, along with an eccentric anti-shake mechanism and transmission device for stable operation and multi-posture swings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multi-joint series drive is adopted, then motion control capability is improved, but device complexity increases
Solution Approach 1:
The robot fish body is divided into multiple functional modules: head module, thorax module, abdominal module, and tail module. Each module contains specific components (sensors, actuators, batteries) and can be independently controlled, allowing complex motions to be achieved through coordinated action of simpler modular units rather than a single complex multi-joint mechanism
Solution Approach 2:
The robot fish employs dynamic undulating motion of its body and tail to achieve propulsion and maneuvering, rather than relying on complex multi-joint mechanical linkages. The body waves propagate through the segmented modules, providing efficient locomotion with simpler mechanical structures
2Adaptability or versatility
If multi-joint series drive is adopted, then motion control capability is improved, but manufacturing cost increases
Solution Approach 1:
The modular architecture allows each module to be manufactured and tested independently using standardized processes, reducing overall manufacturing complexity and cost compared to a monolithic multi-joint system. Common components can be mass-produced and assembled into different configurations
Solution Approach 2:
The robot fish achieves diverse motion capabilities by changing control parameters (wave frequency, amplitude, phase differences between modules) rather than requiring complex mechanical parameter changes, reducing manufacturing costs while maintaining versatility
3Adaptability or versatility
If multi-joint series drive is adopted, then motion control capability is improved, but robot fish weight increases
Solution Approach 1:
The robot fish uses dynamic body undulation and tail oscillation for propulsion, eliminating the need for heavy multi-joint mechanical linkages. The segmented modular structure allows efficient transmission of muscular forces through the body, achieving complex motions with lighter overall mass
Solution Approach 2:
Complex mechanical multi-joint systems are replaced with a combination of muscular actuation in segmented modules and hydrodynamic interactions with water, reducing mechanical weight while maintaining motion control capability
4Reliability
If sealed connection structure is implemented, then waterproof performance is improved, but manufacturing complexity increases
Solution Approach 1:
The robot fish body is divided into sealed modules (head, thorax, abdomen, tail) with standardized sealing interfaces. Each module maintains internal pressure independently, and the modular sealing design simplifies the overall waterproofing challenge compared to sealing entire complex mechanisms
Solution Approach 2:
The robot fish employs flexible waterproof membranes and seals at module interfaces that can accommodate slight misalignments and thermal expansions, providing reliable waterproofing through simple elastic deformation rather than complex rigid sealing mechanisms
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The design enables extended battery life, stable image collection, and versatile underwater operations such as water quality monitoring, salvage, and rescue, while maintaining a simple structure and cost-effectiveness by ensuring waterproof sealing and efficient power management.
Implementation Method 1
a lens group for collecting images
Implementation Method 2
an eccentric anti-shake mechanism for preventing side shake
Implementation Method 3
an eccentric anti-shake mechanism for preventing side shake
Implementation Method 4
a triaxial linkage device for realizing balance adjustment to the pitch posture and left-right postures
Implementation Method 5
a transmission device... The output end of the transmission device is connected to the bionic fishtail structure
Implementation Method 6
The front casing and the upper casing, the front casing and the lower casing, as well as, the upper casing and the lower casing, are all sealed connections
Implementation Method 7
the battery cabin is used for providing the power supply for the main board cabin and the motion control cabin
Data Source
AI summary
The single-jointed underwater robot fish includes a casing, a main board cabin, a motion control cabin and a battery cabin. The outer contour of the casing is a bionic fish shape, one end is a front casing, and the other end is a bionic fishtail structure. The front end of the main board cabin is affixed to the inner side of the front casing, a lens group, an eccentric anti-shake mechanism and a main PCB (printed circuit board) are set in the main board cabin. The motion control cabin is connected to the rear end of the main board cabin. A triaxial linkage device and a transmission device are set in the motion control cabin. The battery cabin is located below the motion control cabin.