The invention relates to a multi-point excited variable stiffness tension bionic robotic fish structure, which comprises a fish head module, a flexible trunk module and a fin module, the flexible trunk module comprises a tension integral structure, a flexible fish skin, a driving rope and a driven rope, the tension integral structure comprises a plurality of joint components, and the adjacent joint components are connected through springs; the fin module comprises a left pectoral fin, a right pectoral fin and a flexible tail fin, and the tail fin base frame is connected with the joint component at the rearmost end; the fish head module comprises a fish head base frame, a driving mechanism, a first guide rail sliding block mechanism and a fish head shell, the fish head base frame is connected with the joint component at the foremost end, the driving mechanism comprises two pairs of steering engines, and the left sides and the right sides of upper steering engine blades and lower steering engine blades are connected with the joint component in the middle and the tail fin base frame through a first driving rope and a second driving rope respectively. One ends of the upper passive rope and the lower passive rope are connected with the first guide rail sliding block mechanism, and the other ends of the upper passive rope and the lower passive rope are connected with the tail fin base frame. According to the bionic robotic fish structure, the flexibility and the simulation degree of the bionic robotic fish are improved.
本发明涉及一种多点激励的变刚度张拉仿生机器鱼结构,包括鱼头模块、柔性躯干模块和鱼鳍模块,柔性躯干模块包括张拉整体结构、柔性鱼皮和主、被动绳,张拉整体结构包括多个关节构件,相邻关节构件通过弹簧连接;鱼鳍模块包括左、右胸鳍和柔性尾鳍,尾鳍基架与最后端的关节构件连接;鱼头模块包括鱼头基架、驱动机构、第一导轨滑块机构和鱼头外壳,鱼头基架与最前端的关节构件连接,驱动机构包括两对舵机,上、下舵机叶片的左、右两侧分别经第一、二主动绳与中部的关节构件、尾鳍基架连接,左、右舵机叶片分别连接左、右胸鳍,上、下被动绳一端连接第一导轨滑块机构,另一端连接尾鳍基架。该仿生机器鱼结构提高了仿生机器鱼的灵活性和仿真度。
Multi-point excitation variable-stiffness tensioning bionic robotic fish structure
一种多点激励的变刚度张拉仿生机器鱼结构
2023-12-22
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING |
Compliant bionic robotic fish capable of regulating pressure to realize variable stiffness
European Patent Office | 2016
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