The invention discloses a line-driven bionic flexible robotic fish and a using method thereof. The line-driven bionic flexible robotic fish comprises a rigid fish head, and a power source and a control module are arranged in the rigid fish head; the head end of the rigid fish body is connected with the rigid fish head; the flexible fish tail is connected with the rigid fish body, and the flexible fish tail comprises an elastic fish tail spine, a fish tail supporting joint, a tension spring and a flexible fish tail skin; the flexible fishtail driving module is arranged in the rigid fish body; wherein the flexible fishtail is driven by a single motor in cooperation with a stay wire, an intermuscular bone of a fish is simulated through a fishtail supporting joint, the swinging posture of the flexible fishtail is restrained while the driving stay wire is supported, and a nonlinear module is formed through a tension spring and an elastic fishtail spine. The intelligent flexible bionic robotic fish has the advantages that the energy consumption is reduced, and the swimming speed and the swimming efficiency can be improved.
本发明公开了一种线驱动仿生柔性机器鱼及其使用方法,包括刚性鱼头,所述刚性鱼头内设有电源和控制模块;刚性鱼身,所述刚性鱼身首端与刚性鱼头相连;柔性鱼尾,所述柔性鱼尾与刚性鱼身相连,所述柔性鱼尾包括弹性鱼尾脊柱、鱼尾支撑关节、拉簧和柔性鱼尾外皮;柔性鱼尾驱动模块,所述柔性鱼尾驱动模块设置在刚性鱼身内部;其中,柔性鱼尾通过单电机配合拉线驱动,通过鱼尾支撑关节模拟鱼类的肌间骨,对驱动拉线起到支撑作用的同时约束柔性鱼尾的摆动位姿,通过拉簧和弹性鱼尾脊柱构成非线性模块。具有更加真实的智能柔性仿生机器鱼,在降低能耗的同时也能提高游动速度和游动效率的优点。
Line-driven bionic flexible robotic fish and use method thereof
一种线驱动仿生柔性机器鱼及其使用方法
15.04.2025
Patent
Elektronische Ressource
Chinesisch
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