A bionic robotic fish underwater docking method based on a pectoral fin rising and submerging structure comprises the steps that vertical rising or falling of a bionic robotic fish is controlled through the resistance difference perpendicular to the pectoral fin face generated in the up-down swinging process of pectoral fins, the bionic robotic fish is controlled to vertically rise to the bottom of an underwater vehicle during docking, and pre-tightening force is further generated; after the vacuum suction cup of the bionic robotic fish is in full contact with the bottom of the underwater vehicle, water in the vacuum suction cup is discharged, and underwater butt joint is achieved; and during separation, water is injected into the vacuum suction cup to eliminate the internal and external pressure difference, the bionic robotic fish is controlled to vertically descend, and separation of the bionic robotic fish and the underwater vehicle is achieved. The method is easy to control, low in energy consumption and high in adaptability.
一种基于胸鳍升潜结构的仿生机器鱼水下对接方法,通过胸鳍上、下摆动过程中分别产生的垂直于胸鳍面的阻力差,控制仿生机器鱼的垂直上升或下降,在对接时控制仿生机器鱼垂直上升至水下航行器的底部并进一步产生预紧力,使得仿生机器鱼的真空吸盘与水下航行器底部充分接触后,将真空吸盘内水排出实现水下对接;在脱离时,向真空吸盘内注水消除内外压力差并控制仿生机器鱼垂直下降,实现仿生机器鱼与水下航行器的脱离。本发明控制简单、能耗小、适配性强。
Bionic robotic fish underwater docking method based on pectoral fin rising and submerging structure
基于胸鳍升潜结构的仿生机器鱼水下对接方法
2023-08-04
Patent
Electronic Resource
Chinese
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