Robotic Fish Segmented Body and Movable Weight for Efficient Propulsion
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Solution Overview
Problem
Current robotic fish designs for underwater exploration lack efficient propulsion mechanisms and control systems, limiting their ability to navigate and interact with their environment effectively.
Innovation Solution
A robotic fish design incorporating a front body, rear body, caudal fin, and multiple driving units, including a motor-driven shaft system and a center-of-gravity adjusting unit, controlled by a controller to enable efficient swimming, turning, ascending, and diving capabilities, along with obstacle detection and stable propulsive force generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If a traditional propeller-based propulsion mechanism is used, then the structure is simple, but the swimming efficiency and maneuverability are poor
Solution Approach 1:
The robotic fish body is divided into front body and rear body segments that can swing relative to each other, enabling fish-like undulating motion. This segmentation allows efficient propulsion through water while maintaining a relatively simple overall structure, resolving the contradiction between swimming efficiency and structural complexity
Solution Approach 2:
The patent replaces the traditional propeller-based mechanical propulsion system with a bio-mimetic swinging mechanism that uses body undulation and caudal fin movement. This substitution achieves superior swimming efficiency and maneuverability while avoiding the complexity and limitations of propeller systems
2Adaptability or versatility
If the robotic fish has fixed center of gravity, then the structure is simple, but the ability to adjust buoyancy and orientation is limited
Solution Approach 1:
The patent implements a movable center of gravity through a weight that can be repositioned along the longitudinal axis of the robotic fish. This dynamic adjustment capability allows the fish to control its buoyancy and orientation in water, enhancing adaptability while adding only minimal control system complexity
Solution Approach 2:
The movable weight system enables the robotic fish to self-adjust its center of gravity and buoyancy without external intervention. The simple mechanism allows the fish to autonomously maintain stable orientation and navigate effectively in various underwater environments
3Force
If the driving units are positioned far from the pivot points, then the propulsive force is stronger, but the structural stability and control precision deteriorate
Solution Approach 1:
The patent positions the driving units at specific locations on the front and rear bodies, optimizing the balance between propulsive force generation and structural stability. The driving units are placed at distances that provide sufficient leverage for strong propulsion while maintaining close enough connection to pivot points to ensure control precision and structural integrity
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 allows for efficient and stable underwater movement, enabling the robotic fish to navigate through water with precision and adapt to different environments, including avoiding obstacles and maintaining buoyancy, thereby enhancing its exploration capabilities.
Implementation Method 1
The first driving unit is configured to drive the front body to swing left and right relative to the first segment, and includes a motor and a shaft
Implementation Method 2
The third driving unit is disposed in the front connecting portion of the second segment, and is configured to drive the first segment to swing left and right relative to the second segment
Implementation Method 3
The CG adjusting unit is disposed in the front body, and includes a weight that is movable in one of the swimming direction and a posterior direction opposite to the swimming direction to adjust a center of gravity of the robotic fish
Data Source
AI summary
A robotic fish includes a front body, a rear body that includes a first segment and a second segment, and a driving unit. The first segment has a front engaging portion projecting toward and pivotally connected to the front body, and a rear engaging portion formed with a recess that recedes toward the front body and pivotally connected to the second segment. The driving unit includes a motor disposed in the front engaging portion, and a shaft extending along a dorsoventral axis and connecting the motor and the rear connecting portion. A ratio of a distance between the shaft and a foremost edge of the front engaging portion to a distance between the foremost edge and an extreme point of the recess ranges from 0.075 to 0.75.