The invention provides a compliant bionic robotic fish capable of regulating a pressure to realize variable stiffness. The compliant bionic robotic fish capable of regulating the pressure to realize variable stiffness comprises a compliant fish body, a cylindrical gas chamber, a pressure regulating module, a swinging plate, two soft cables, a digital steering engine, a steering wheel and a control system, wherein the cylindrical gas chamber is formed in the tail part of the compliant fish body; the pressure regulating module is positioned within a body of the fish body; the cylindrical gas chamber is connected with the pressure regulating module; the pressure regulating module realizes bending stiffness of the fish body through adjusting a pressure value of the cylindrical gas chamber; the swinging plate is embedded in the tail part of the compliant fish body; one ends of the two soft ropes are connected with the two sides of the swinging plate; the other ends of the two soft ropes are connected with the steering wheel; the control system comprises a peripheral circuit, a single chip and a driving circuit; and under the control of the single chip, the digital steering engine rotates in a reciprocating way at a certain frequency and a certain angle so that the fishtail of the compliant fish body swings in a reciprocating way at a certain amplitude and a certain frequency. The compliant bionic robotic fish capable of regulating the pressure to realize variable stiffness, provided by the invention, has the advantages of simple control, high mechanical efficiency and continuous motion.
Compliant bionic robotic fish capable of regulating pressure to realize variable stiffness
2016-02-03
Patent
Electronic Resource
English
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