The invention discloses a bionic flexible fin ray based on a tensegrity structure and a design method of the bionic flexible fin ray. The flexible fin ray comprises double-layer fin ray bodies and a stand column connected between the double-layer fin ray bodies. The double-layer fin ray body comprises an upper-layer fin ray body and a lower-layer fin ray body which are the same in structure, each layer of fin ray body comprises more than two second-class tensegrity structure units, and each tensegrity structure unit comprises two rigid rods and three elastic ropes; the three elastic ropes comprise two longitudinal elastic ropes and a transverse elastic rope; the two rigid rods are arranged in a crossed mode, and the two ends of each rigid rod are in pin joint with the two stand columns respectively, that is, the rigid rods can rotate around the axes of the stand columns. The two longitudinal elastic ropes are arranged on the two sides of the flexible fin ray in the length direction of the flexible fin ray. And one transverse elastic rope is arranged along the width direction of the flexible fin ray. The bionic flexible fin ray has the advantages of simple structure, convenience in processing, easiness in control and large deformation amplitude, and is closer to the motion performance of organisms.

    本发明公开了一种基于张拉整体结构的仿生柔性鳍条及其设计方法,所述柔性鳍条包括双层鳍条本体及连接在双层鳍条本体之间的立柱;双层鳍条本体包括结构相同的上层鳍条本体和下层鳍条本体,每层鳍条本体均包括两个以上二类张拉整体结构单元,每个张拉整体结构单元均包括两个刚性杆和三根弹性绳;三根弹性绳包括:两个纵向弹性绳和一根横向弹性绳;两个刚性杆交叉设置,每个刚性杆的两端分别与两个立柱销接,即刚性杆可绕立柱的轴线转动;两个纵向弹性绳沿柔性鳍条的长度方向设置在柔性鳍条的两侧;一个横向弹性绳沿柔性鳍条的宽度方向设置。该仿生柔性鳍条具有结构简单、加工方便、易于控制、变形幅度大的优势,更接近生物的运动性能。


    Access

    Download


    Export, share and cite



    Title :

    Bionic flexible fin ray based on tensegrity structure and design method thereof


    Additional title:

    一种基于张拉整体结构的仿生柔性鳍条及其设计方法


    Contributors:
    YAN CAIQING (author) / KE WEI (author) / CHEN JUN (author) / ZHANG XINHAI (author) / MA XIBAO (author)

    Publication date :

    2023-07-11


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS



    Underwater vehicle bionic propulsion device based on tensegrity structure and design method thereof

    YAN CAIQING / KE WEI / ZHANG XINHAI et al. | European Patent Office | 2024

    Free access

    Bionic knee joint mechanism based on tensegrity structure

    SUN JIANWEI / LI WEIJIA / LIU WENRUI et al. | European Patent Office | 2020

    Free access

    Bionic underwater propelling device based on tensegrity structure

    WANG YANHUI / QIAO YUXUAN / CHEN JUN et al. | European Patent Office | 2023

    Free access

    Design of a deployable aerodynamic decelerator based on a tensegrity structure

    Xu, Wen-xuan / Zhang, Jing / Guo, Hong-wei et al. | Elsevier | 2023


    Kinematic Analysis of a Flexible Tensegrity Robot

    Altuzarra Maestre, Oscar / Díez Sánchez, Mikel / Corral Saiz, Javier et al. | BASE | 2017

    Free access