A magnetically-driven bionic robotic fish system comprises a controller and a robot. Wherein the controller is a three-axis Helmholtz coil surrounding the outside of a specific occasion and is used for sending driving and control signals to control the robot to move forwards, backwards and stop; the robot moves in a stable magnetic field in the controller and is composed of a head shell, an internal spiral and a tail. A three-axis Helmholtz coil is used for generating a universal space rotating magnetic field, an annular radial permanent magnet in the robot is driven to rotate, an internal spiral is driven to rotate, and therefore a tail connecting rod is driven to generate wavy motion; the robot can move reversely by adjusting the rotating direction of the magnetic field; when the inner spiral rotates, the tail connecting rod is restrained to move along the spiral, forward and backward propelling force is generated, and forward and backward movement is achieved. The system is simple in structure, wide in application range, remarkable in stability and flexibility, high in anti-interference capability and high in moving speed.
一种磁驱动仿生机器鱼系统包括控制器和机器人两部分;其中,控制器为环绕特定场合外部的三轴亥姆霍兹线圈,用于发出驱动和控制信号控制机器人进行前进、后退和停止动作;机器人在控制器内部稳定磁场中进行运动,由头部外壳、内部螺旋和尾部构成;利用三轴亥姆霍兹线圈产生万向空间旋转磁场,驱动机器人内部环形径向永磁体旋转,并带动内部螺旋旋转,以此带动尾部连杆产生波状运动;调整磁场旋转方向,机器人可以实现反向运动;当内部螺旋旋转时,尾部连杆被约束着沿着螺旋运动,并产生向前和向后的推进力,从而实现前进和后退的运动。结构简单,应用范围广,稳定性、灵活性显著,抗干扰能力强,且移动速度快。
Magnetically-driven bionic robotic fish system and working method thereof
一种磁驱动仿生机器鱼系统及其工作方法
2023-09-22
Patent
Electronic Resource
Chinese
IPC: | B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
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