The invention discloses a bionic robotic fish cooperatively propelled by pectoral fins and tail fins and a control method of the bionic robotic fish, and belongs to the field of bionic underwater robots. The bionic robotic fish comprises a robotic fish body, two pectoral fin propelling structures and a tail fin propelling structure, the two pectoral fin propelling structures are located on the left side and the right side of the robotic fish body respectively, and the tail fin propelling structure is located at the tail end of the robotic fish body. Each propelling mechanism comprises two waterproof brushless steering engines, and the two waterproof brushless steering engines of the pectoral fin propelling mechanism are arranged in the space perpendicular orthogonal direction. Two waterproof brushless steering engines of the tail fin propelling mechanism are connected in series, and two motion joints are given to the tail fin of the bionic robotic fish. Six degrees of freedom of the robotic fish are driven through a CPG network, so that pectoral fins and tail fins of the robotic fish are coupled and cooperatively moved, and three modes of linear movement, steering movement and pitching movement are realized. The propelling capacity, the maneuvering capacity, the environment adaptability and the underwater operation capacity of the bionic robotic fish are enhanced.
本发明公开了一种胸鳍和尾鳍协同推进的仿生机器鱼及其控制方法,属于仿生水下机器人领域。仿生机器鱼包括机器鱼主体、2个胸鳍推进结构和尾鳍推进结构,2个胸鳍推进结构分别位于机器鱼主体的左右两侧,尾鳍推进结构位于机器鱼主体的末端。每个推进机构包括2个防水无刷舵机,胸鳍推进机构的2个防水无刷舵机按照空间垂直正交的方向布置。尾鳍推进机构的2个防水无刷舵机串联,赋予了仿生机器鱼尾鳍两个运动关节。通过CPG网络对机器鱼的6个自由度进行驱动,使机器鱼的胸鳍和尾鳍耦合协同运动,实现直线运动、转向运动和俯仰运动三种模式。本发明增强了仿生机器鱼的推进能力、机动能力、环境适应能力和水下作业能力。
Bionic robotic fish synergistically propelled by pectoral fins and tail fins and control method of bionic robotic fish
一种胸鳍和尾鳍协同推进的仿生机器鱼及其控制方法
2024-04-12
Patent
Elektronische Ressource
Chinesisch
Bionic robotic fish synergistically propelled by tail and pectoral fins
Europäisches Patentamt | 2021
|Bionic robotic fish pectoral fin and tail fin cooperative control system and method
Europäisches Patentamt | 2021
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