The invention relates to the technical field of robots, and discloses a shape memory alloy-driven tensioned integral bionic robotic fish which comprises a fish head, a tail fin, a fish bone and a driver. The fish head and the tail fin are bionic fish mechanism supporting elements based on fish-shaped streamline configuration, and the fish head, the fish bone and the tail fin are sequentially connected and fixed to form a bionic robotic fish mechanism main body; a fishbone mechanism is an integral tensioning mechanism and is composed of tetrahedron units based on a fishbone form, and each tetrahedron unit is connected to the next tetrahedron unit through two driving units in the horizontal direction, two fixing units in the vertical direction and four spatial rhombic supporting units so asto form the fishbone mechanism; and the driving system is an embedded fishbone mechanism driving system based on shape memory alloy driving, and is composed of a spiral shape memory alloy driving device, a controller and a control circuit. Bottleneck problems of low mechanism lightweight degree, segmented driving challenge and driving deployment of an existing bionic robotic fish under the condition that trajectory planning is met are solved.

    本发明涉及机器人技术领域,公开了一种形状记忆合金驱动的张拉整体仿生机器鱼,包括鱼头、尾鳍、鱼骨及驱动器,鱼头与尾鳍是基于鱼形流线构型的仿生鱼机构支承元件,鱼头、鱼骨与尾鳍依次连接固定构成仿生机器鱼机构主体,鱼骨机构为张拉整体机构,由基于鱼骨形态的四面体单元组成,每个四面体单元上分别由两个水平方向的驱动单元、两个竖直方向的固定单元、四个空间菱形的支撑单元连接至下一四面体单元构成鱼骨机构,驱动系统为基于形状记忆合金驱动的嵌入式鱼骨机构驱动系统,由螺旋形状记忆合金驱动装置,控制器以及控制电路组成,本发明解决了现有仿生机器鱼在满足轨迹规划下,机构轻质化程度低,分段驱动挑战以及驱动部署的瓶颈问题。


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    Title :

    Shape memory alloy-driven tensioned integral bionic robotic fish


    Additional title:

    一种形状记忆合金驱动的张拉整体仿生机器鱼


    Contributors:
    WEI DUNWEN (author) / WEI XIMING (author) / ZENG ZHI (author) / PENG BEI (author) / ZHOU WU (author)

    Publication date :

    2021-02-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B25J Manipulatoren , MANIPULATORS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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