The invention relates to the technical field of underwater bionic robots, and provides a bionic robotic fish driven by a parallel mechanism, which comprises a bionic fish head, a pectoral fin assembly, a bionic fish body, a bionic fish tail and a tail fin, the bionic fish head, the bionic fish body, the bionic fish tail and the tail fin are sequentially connected, and the pectoral fin is arranged on the bionic fish head; a plurality of driving motors are arranged in the bionic fish body, each driving motor is connected with the bionic fish tail, the plurality of driving motors are connected in parallel to form a parallel mechanism, and through cooperative control, the bionic fish tail can move in multiple degrees of freedom. The multiple driving motors are arranged in parallel to form a parallel mechanism, the multiple driving motors are cooperatively controlled to drive the bionic fishtail to move at each degree of freedom, and therefore multi-degree-of-freedom movement is achieved. The bionic robotic fish driven by the parallel mechanism is high in stability, large in output force and high in flexibility in the propelling process.

    本发明涉及水下仿生机器人技术领域,提供一种并联机构驱动的仿生机器鱼,包括:仿生鱼头、胸鳍组件、仿生鱼体、仿生鱼尾以及尾鳍;仿生鱼头、仿生鱼体、仿生鱼尾以及尾鳍依次连接,胸鳍设置于仿生鱼头上;仿生鱼体内设有多个驱动电机,每个驱动电机均与仿生鱼尾连接,多个驱动电机并联形成并联机构,通过协同控制,以使仿生鱼尾能够在多个自由度上运动。本发明将多个驱动电机并联设置形成并联机构,通过协同控制多个驱动电机驱动仿生鱼尾在每个自由度的运动,从而实现多个自由度的运动。该并联机构驱动的仿生机器鱼在推进的过程中,稳定性强、输出力大,且灵活度高。


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    Title :

    Bionic robotic fish driven by parallel mechanism


    Additional title:

    并联机构驱动的仿生机器鱼


    Contributors:
    DENG SAI (author) / FAN JUNFENG (author) / WU ZHENGXING (author) / ZHOU CHAO (author) / TAN MIN (author)

    Publication date :

    2024-04-05


    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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