The invention discloses a bionic undulating fin based on IPMC driving. The bionic undulating fin is characterized in that one side of a support is fixed on a robotic fish main body, the other side isconnected with a fin-surface-imitated elastic thin film, the elastic thin film is provided with a plurality of IPMC driving pieces, each IPMC driving piece adopts an independent control mode and swings in sequence with equal phase difference, and a motion state of the undulating fin is changed by changing a swinging phase and a driving voltage of the IPMC driving piece so that the robot fish movesin the water. The bionic undulating fin is advantaged in that the bionic undulating fin is simple and light in structure, can simulate fishes propelled in an undulating mode in an MPF mode to move, and has higher flexibility, maneuverability, concealment and propelling energy efficiency compared with a traditional driving mode.
本发明公开了一种基于IPMC驱动的仿生波动鳍,支架的一侧固定于机器鱼主体上,另一侧连接仿鳍面的弹性薄膜,弹性薄膜设置有多个IPMC驱动片,每个IPMC驱动片采用独立控制方式,以等相位差依次摆动,通过改变IPMC驱动片的摆动相位和驱动电压改变波动鳍运动状态从而使机器鱼在水中运动。本发明结构简单轻巧,能够模仿MPF模式中波动推进的鱼类进行运动,相较传统的驱动方式具有更高的柔性、机动性、隐蔽性和推进能效。
Bionic undulating fin based on IPMC driving
一种基于IPMC驱动的仿生波动鳍
2020-07-14
Patent
Electronic Resource
Chinese
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