The invention discloses a bionic robotic fish cooperatively propelled by pectoral fins and tail fins and a control method of the bionic robotic fish, and belongs to the field of bionic underwater robots. The bionic robotic fish comprises a robotic fish body, two pectoral fin propelling structures and a tail fin propelling structure, the two pectoral fin propelling structures are located on the left side and the right side of the robotic fish body respectively, and the tail fin propelling structure is located at the tail end of the robotic fish body. Each propelling mechanism comprises two waterproof brushless steering engines, and the two waterproof brushless steering engines of the pectoral fin propelling mechanism are arranged in the space perpendicular orthogonal direction. Two waterproof brushless steering engines of the tail fin propelling mechanism are connected in series, and two motion joints are given to the tail fin of the bionic robotic fish. Six degrees of freedom of the robotic fish are driven through a CPG network, so that pectoral fins and tail fins of the robotic fish are coupled and cooperatively moved, and three modes of linear movement, steering movement and pitching movement are realized. The propelling capacity, the maneuvering capacity, the environment adaptability and the underwater operation capacity of the bionic robotic fish are enhanced.

    本发明公开了一种胸鳍和尾鳍协同推进的仿生机器鱼及其控制方法,属于仿生水下机器人领域。仿生机器鱼包括机器鱼主体、2个胸鳍推进结构和尾鳍推进结构,2个胸鳍推进结构分别位于机器鱼主体的左右两侧,尾鳍推进结构位于机器鱼主体的末端。每个推进机构包括2个防水无刷舵机,胸鳍推进机构的2个防水无刷舵机按照空间垂直正交的方向布置。尾鳍推进机构的2个防水无刷舵机串联,赋予了仿生机器鱼尾鳍两个运动关节。通过CPG网络对机器鱼的6个自由度进行驱动,使机器鱼的胸鳍和尾鳍耦合协同运动,实现直线运动、转向运动和俯仰运动三种模式。本发明增强了仿生机器鱼的推进能力、机动能力、环境适应能力和水下作业能力。


    Access

    Download


    Export, share and cite



    Title :

    Bionic robotic fish synergistically propelled by pectoral fins and tail fins and control method of bionic robotic fish


    Additional title:

    一种胸鳍和尾鳍协同推进的仿生机器鱼及其控制方法


    Contributors:
    CAI YUERI (author) / CHEN LIN (author) / BI SHUSHENG (author) / LI DAZHAI (author)

    Publication date :

    2024-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



    Bionic robotic fish synergistically propelled by tail and pectoral fins

    WANG LIANMING / CHEN LEI | European Patent Office | 2021

    Free access

    Auxiliary driving movement method for pectoral fins of tail fin driving type bionic robotic fish

    DENG FANG / LI LIN / WANG CHEN et al. | European Patent Office | 2024

    Free access

    Roll maneuver control of robotic fish propelled by oscillating pectoral fins

    Gong, Zhao / Cai, Yueri / Bi, Shusheng et al. | British Library Online Contents | 2015


    Depth control of robotic fish propelled by oscillating paired pectoral fins

    Ma, Hongwei / Bi, Shusheng / Cai, Yueri et al. | British Library Online Contents | 2015


    Driving device of bionic robotic fish tail and bionic robotic fish tail

    CHANG WENKAI / WU ZHENGXING / ZHOU CHAO et al. | European Patent Office | 2024

    Free access