The invention relates to the technical field of underwater robots, and provides an online variable-stiffness bionic robotic fish which comprises a driving part, an active joint part, a passive joint part and a bionic fish tail part which are connected in sequence, and the driving part is used for driving the active joint part to swing periodically; the driven joint part comprises a first support and a pair of adjusting assemblies, the first support is of an arch-shaped structure, the middle of the arch-shaped structure is connected with the driving joint part, the two ends of the arch-shaped structure are located on the two sides of the driving joint part respectively, and the adjusting assemblies are symmetrically arranged on the first support; the driving part is further used for driving at least one of the pair of adjusting assemblies to slide along the first support. According to the online variable-rigidity bionic robotic fish, the rigidity of the two sides of the tail of the bionic fish can be independently adjusted, and therefore the bionic robotic fish can obtain better swimming performance through rigidity adjustment in the transient movement process such as rapid turning; the overall length size of the bionic robotic fish is not changed, the precision of a control algorithm and modeling is not affected, and the actual swimming performance is the same as the expected performance.

    本发明涉及水下机器人技术领域,提供一种在线变刚度仿生机器鱼包括:依次连接的驱动部、主动关节部、被动关节部和仿生鱼尾部,驱动部用于驱动主动关节部周期性摆动;被动关节部包括第一支架和一对调节组件,第一支架呈弓形结构,弓形结构的中部与主动关节部连接,弓形结构的两端分别位于主动关节部的两侧,一对调节组件对称设置于第一支架,驱动部还用于驱动一对调节组件中的至少一者沿第一支架滑动。上述的在线变刚度仿生机器鱼,可对仿生鱼尾部两侧的刚度进行独立调节,从而使仿生机器鱼在快速转弯等瞬态运动过程中通过刚度调节获得更好的游动性能;仿生机器鱼整体长度尺寸不变,控制算法和建模的精度未受影响,实际游动性能与预期性能相同。


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    Title :

    Online variable-stiffness bionic robotic fish


    Additional title:

    在线变刚度仿生机器鱼


    Contributors:
    ZHOU CHAO (author) / ZHU CHUNHUI (author) / ZOU QIANQIAN (author) / DENG LIANGWEI (author) / WANG XIAOFEI (author) / FAN JUNFENG (author) / WANG JIAN (author) / ZHANG ZHUOLIANG (author)

    Publication date :

    2023-11-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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