The invention relates to the technical field of underwater robots, and provides a high-maneuverability bionic machine tuna device and a steering method thereof.The device comprises a head cabin, a middle cabin and a tail fin which are sequentially connected; a driving part is arranged in the head cabin and is connected with the transmission mechanism; the transmission mechanism is configured to output the continuous rotary motion of the driving part as sine-like swing; a shear damper is arranged in the middle cabin, the tail fin is movably connected with the shear damper, a microprocessor is further arranged in the head cabin, and the microprocessor is configured to control the output shaft to output a preset rotation angle so as to drive the tail fin to periodically swing according to a preset periodic rule. According to the invention, the independent driving part is connected with the transmission mechanism, so that the bionic machine tuna can swing in a sine-like manner in a wide frequency band, and the obviously enhanced hydrodynamic action in a high frequency band is counteracted by utilizing the torque characteristic of a shear damping mechanism, which is enhanced along with the increase of the frequency; and the propelling speed performance of the bionic underwater robot in a wide frequency band is improved.
本发明涉及水下机器人技术领域,提供一种高机动仿生机器金枪鱼装置及其转向方法,该装置包括依次连接的头舱、中舱和尾鳍;头舱内设有驱动部,驱动部与传动机构连接;传动机构配置为将驱动部连续旋转运动输出为类正弦摆动;中舱内设有剪切阻尼器,尾鳍与剪切阻尼器活动连接,头舱内还设有微处理器,微处理器配置为通过控制输出轴输出预定的转动角度,以驱使尾鳍以预设的周期规律进行周期性摆动。本发明通过装设独立的驱动部与传动机构连接的方式,实现了仿生机器金枪鱼能够在宽频段内进行类正弦的摆动规律,利用剪切阻尼机理随频率提升而增强的力矩特性抵消高频段显著增强的水动力作用,提升仿生水下机器人在宽频段内的推进速度性能。
High-maneuverability bionic machine tuna device and steering method thereof
高机动仿生机器金枪鱼装置及其转向方法
2023-11-24
Patent
Electronic Resource
Chinese
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