The invention provides a bionic robotic fish based on magneto-rheological actuator driving, which comprises a head part, a fish body part and a tail part, the fish body part comprises a plurality of actuator units which are sequentially connected in series, and each actuator consists of a plurality of coils with iron cores, two fins and a plurality of columnar magneto-rheological elastomers. After the actuator units with the iron cores are powered on, every two adjacent actuator units attract each other due to the action of electromagnetic force and get close to each other, a plurality of columnar magnetorheological elastomers are clamped between the two actuators, and the rigidity of the magnetorheological elastomers can be changed in different magnetic fields. After the coil is electrified, in the process that the two adjacent actuating units attract each other and get close, the rigidity of the magnetorheological elastomer clamped between the two actuating units can be changed due to the change of a magnetic field, the state that the two actuating units get close can be stronger resisted, and after the coil is electrified, the two actuating units can be quickly pushed away to restore the original shape. Therefore, the fish body swings quickly, and the purpose of swimming of the robotic fish is achieved.

    本发明提供了一种基于磁流变致动器驱动的仿生机器鱼,包括头部、鱼体部以及尾部,鱼体部包括若干个依次串联起来的致动器单元,每个致动器由若干带铁芯的线圈、两片肋片和若干柱状磁流变弹性体组成。在带铁芯的致动器单元通电后相邻的两个致动器单元由于电磁力的作用相互吸引而靠拢,在两个致动器的中间夹有若干柱状的磁流变弹性体,磁流变弹性体在不同的磁场中会改变刚度,以至于线圈在通电后相邻的两致动单元相互吸引靠拢的过程中,中间所夹的磁流变弹性体也会因为磁场的改变而发生刚度的改变,出现更强的抵抗两致动器单元相靠拢的状态,在线圈通电结束后便能迅速将两致动器单元推开恢复原状,从而实现鱼体的快速摆动,以达到机器鱼游动的目的。


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    Titel :

    Bionic robotic fish based on driving of magnetorheological actuator


    Weitere Titelangaben:

    一种基于磁流变致动器驱动的仿生机器鱼


    Beteiligte:
    ZHANG WEI (Autor:in) / SHU GUOTAO (Autor:in) / WANG JINKE (Autor:in) / CHEN YU (Autor:in)

    Erscheinungsdatum :

    2024-02-27


    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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