The invention discloses a novel modular bionic underwater robot based on full-flexible pectoral fins. A hydrodynamic module of eagle ray pectoral fins is analyzed, and motion of the pectoral fins is decomposed into vertical bending flapping in the vertical body longitudinal axis direction and twisting motion taking the vertical body longitudinal axis direction as the axis. The whole robot comprises a sectioned main body, a left flexible pectoral fin module, a right flexible pectoral fin module and a tail fin module, and a group module is formed by connecting fin connecting parts; the left and right flexible pectoral fin modules are identical in structure and are in mirror symmetry; a pectoral fin framework adopts a structure similar to that of a plane rib, a symmetrical airfoil is taken as the basic shape, and the pectoral fin modules with streamline sections are spliced through serial connection of straight pectoral fin trunk bones and steel wires. A large steering engine and a small steering engine are arranged at the root and the tip of each pectoral fin to control vertical flapping and twisting motion of each pectoral fin. Through adjustment of motion amplitude, motion frequency and phase difference of the two steering engines of each pectoral fin, different pectoral fin motion postures can be realized, and fish body motion can be finished better.


    Access

    Download


    Export, share and cite



    Title :

    Novel modular bionic underwater robot based on full-flexible pectoral fins


    Contributors:
    WANG SHAOPING (author) / ZHANG YIXIN (author) / GENG YIXUAN (author) / LUO XUESONG (author)

    Publication date :

    2015-09-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



    Bionic mudskipper with flexible and variable-rigidity pectoral fins and control method of bionic mudskipper

    ZHOU WEI / ZHENG WEI / ZHANG YU et al. | European Patent Office | 2023

    Free access

    A novel butterfly-inspired underwater microrobot with pectoral fins

    Shi, Liwei / Guo, Shuxiang / Asaka, K. | Tema Archive | 2011


    Bionic robotic fish synergistically propelled by tail and pectoral fins

    WANG LIANMING / CHEN LEI | European Patent Office | 2021

    Free access

    Underwater multipurpose robot propelled by bionic undulating fins

    HU QIAO / YIN SHENGLIN / WANG ZHAOHUI et al. | European Patent Office | 2020

    Free access

    Bionic robotic fish synergistically propelled by pectoral fins and tail fins and control method of bionic robotic fish

    CAI YUERI / CHEN LIN / BI SHUSHENG et al. | European Patent Office | 2024

    Free access