The invention discloses a multi-joint bionic hairtail robot based on a BCF propelling mode and a method, and belongs to the field of robot technology application. The multi-joint bionic hairtail robot comprises a hairtail head, N body units and a hairtail tail. A gravity center adjusting structure is arranged in the hairtail head, and through different moving modes of configuration blocks in the gravity center adjusting structure, the multi-joint bionic hairtail robot can vertically swim forwards, turn towards the left side or the right side, vertically pitch up and down, turn over from the vertical state to the horizontal state and the like in water. The robot is high in flexibility, adopts a wireless remote control mode to carry out hairtail imitating type swimming, and realizes rapid adjustment of a motion path. The BCF motion mode of the hairtail is simulated, and the propelling efficiency is improved while maneuverability and stability are achieved through research. The method has important research significance and application value in the fields of underwater pipeline quality detection, water quality detection and the like.

    这是一种基于BCF推进方式的多关节仿生带鱼机器人及方法,属于机器人技术应用领域。多关节仿生带鱼机器人包括带鱼头部、N个身体单元、带鱼尾部,共三大部分。其中带鱼头部内有一个重心调节结构,通过该机构中配置块的不同移动方式,可使多关节仿生带鱼机器人在水中实现竖直向前游动、向左侧或向右侧转弯、竖直上下俯仰以及由竖直到水平的翻转等运动。该机器人灵活性高,采用无线遥控方式进行仿带鱼式游动,实现运动路径的快速调整。模拟带鱼的BCF运动模式,研究在实现机动性及稳定性的同时,提高推进效率。其对于水下管道质量检测、水质检测等领域具有重要研究意义和应用价值。


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    Title :

    Multi-joint bionic hairtail robot based on BCF propelling mode and method


    Additional title:

    基于BCF推进方式的多关节仿生带鱼机器人及方法


    Contributors:
    YU ZHIWEI (author) / WANG CHUNJIE (author) / LIU SIYU (author) / NIU ZHENYAO (author) / LU DONGCHANG (author)

    Publication date :

    2023-03-28


    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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