The invention provides a robotic fish. The robotic fish is an axisymmetric structure and includes a main frame, wherein a piezoelectric actuator, a flexible transmission mechanism and a tail fin are arranged on two sides of the main frame, one end of the piezoelectric actuator is fixed on the main frame, the other end of the piezoelectric actuator is connected with the tail fin through the flexible transmission mechanism, and deformation of the piezoelectric actuator is converted into swinging output through the flexible transmission mechanism and is transmitted to the tail fin. Compared withthe prior art, the robotic fish of the invention is provided with a double-tail-fin structure so that one driving freedom degree is increased compared with a single-tail-fin structure, control is moreflexible, and the problem that a traditional robotic fish is complex in control is solved; the piezoelectric actuator is used for driving so that driving energy density is higher, and driving power consumption is lower; a rigid structure of the robotic fish is made of a carbon fiber-resin composite material, component density is low, strength is high, and power consumption is reduced; and by using the flexible transmission mechanism, an equipment transmission structure can be simplified, manufacturing is easy, and practicability is high.

    本发明提出了一种机器鱼,机器鱼为轴对称结构,包括主框架,主框架的两侧各设置有一压电驱动器、一柔性传动机构和一尾鳍,压电驱动器的一端固定在主框架上,压电驱动器的另一端通过柔性传动机构与尾鳍相连接,通过柔性传动机构将压电驱动器的形变转化为摆动输出并传递至尾鳍。与现有的技术相比,本发明提供的机器鱼通过设置双尾鳍结构,与单尾鳍结构相比,增加了一个驱动自由度,使控制更灵活,避免了传统机器鱼控制复杂的问题;通过使用压电驱动器驱动,驱动能量密度更高,驱动功耗更低;机器鱼的刚性结构使用碳纤维‑树脂复合材料制成,构件密度低,强度高,降低了功耗;通过使用柔性传动机构,可以简化设备传动结构,制作简单,实用性强。


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    Titel :

    Robotic fish


    Weitere Titelangaben:

    机器鱼


    Beteiligte:
    ZHAO QUANLIANG (Autor:in) / LIU SHIQI (Autor:in) / WANG YIKAI (Autor:in) / CHEN JINGHAO (Autor:in) / HE GUANGPING (Autor:in) / DI JIEJIAN (Autor:in) / ZHAO LEI (Autor:in) / SU TINGTING (Autor:in) / ZHANG MENGYING (Autor:in)

    Erscheinungsdatum :

    2020-09-15


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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