The invention discloses a design method of a joint-free variable-rigidity flexible robotic fish and a bionic robotic fish thereof. The method comprises the following steps: measuring physical parameters and body shape character parameters of real fish body soft tissues; according to the measured parameters, a hydrogel material and a driving module of the fish body tissue and the fish tail muscle tissue of the robotic fish are designed; preparing the robotic fish based on the designed hydrogel material and a driving module; the stealth performance and the swimming performance of the prepared robotic fish are tested. Compared with an existing bionic robotic fish design method, the bionic robotic fish design method fully considers fish body soft tissue physical characteristics, fish body morphological structure parameters and fish body movement modes, a normal form is provided for bionic robotic fish design, all parts are soft and compact, and bionic characteristics are obviously improved. The bionic robotic fish is simple in structure and easy to control, the hydrogel forming the bionic robotic fish can be prepared through mold pouring and can be used for large-scale standardized production, the mold is designed from a bionic object, and therefore the design method has universality.

    本发明公开了一种无关节变刚度柔性机器鱼的设计方法及其仿生机器鱼。其中,所述方法包括:测量真鱼鱼体软组织物理参数和体形性状参数;根据测量的参数设计机器鱼鱼体组织以及鱼尾肌肉组织的水凝胶材料以及驱动模块;基于设计的水凝胶材料以及驱动模块制备机器鱼;对制备得到的机器鱼的隐身性能及游动性能进行测试。与现有仿生机器鱼设计方法相比,本发明充分考虑了鱼体软组织物理特性、鱼体形态结构参数与鱼体运动方式,为仿生机器鱼的设计提供一种范式,各部位柔软紧实,仿生特征明显进步。本发明结构简单,易于控制,构成仿生机器鱼的水凝胶可以由模具浇筑制备,可用于大规模标准化生产,模具的设计来源于仿生对象,因此本设计方法具有通用性。


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    Title :

    Design method of joint-free variable-rigidity flexible robotic fish and bionic robotic fish thereof


    Additional title:

    一种无关节变刚度柔性机器鱼的设计方法及其仿生机器鱼


    Contributors:
    ZHANG YU (author) / LIU SHENG (author) / ZHANG JINHU (author) / ZHOU NANA (author) / LI HONGQUAN (author)

    Publication date :

    2023-08-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



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