The shape of the adaptive bistable flexible bionic robotic fish is subjected to equal-proportion modeling according to a real fish, and the adaptive bistable flexible bionic robotic fish specifically comprises a rigid fish head 1, a rigid fish body cabin cover 2, a flexible fish body 3 and a flexible tail fin 4; wherein the rigid fish body cabin cover 2 is arranged on the rigid fish head 1, the rigid fish head 1, the flexible fish body 3 and the flexible tail fin 4 are sequentially and hermetically connected, the rigid fish head 1 comprises a hollow fish head cabin 101 and a fish head shell 102, and a driving module 5, a self-adaptive bistable module 6 and a control module 7 are arranged in the fish head cabin 101. According to the self-adaptive bistable mechanism, the self-adaptive bistable module is introduced, and the front spring and the rear spring are always in a pre-stretching state, so that kinetic energy can be stored as elastic potential energy of the springs, fluid medium energy supply and self-adaptive bistable module energy supply are alternately carried out, and the defect that a traditional bistable mechanism needs large energy for breaking through a potential barrier is overcome; and the flexible bionic robot fish can swim more quietly, faster and farther under the same power consumption by applying the flexible bionic robot fish driving device to the driving of the bionic robot fish.
一种自适应双稳态柔性仿生机器鱼,外形按照真实鱼进行等比例建模,具体包括:刚性鱼头1、刚性鱼体舱盖2、柔性鱼身3和柔性尾鳍4;其中,所述刚性鱼体舱盖2设置在所述刚性鱼头1上,所述刚性鱼头1、柔性鱼身3和柔性尾鳍4依次密封连接,所述刚性鱼头1包括中空的鱼头舱101和鱼头外壳102,所述鱼头舱101内部设置有驱动模块5、自适应双稳态模块6和控制模块7。本发明通过引入自适应双稳态模块,其中前置弹簧和后置弹簧一直都是处于预拉伸状态,有利于将动能储存为弹簧的弹性势能,实现了流体介质供能+自适应双稳态模块供能交替进行,克服了传统双稳态机构突破势垒所需能量大的缺点,并将其应用于仿生机器鱼的驱动中,实现了在相同功耗下,使柔性仿生机器鱼游得更静、更快、更远。
Self-adaptive bistable flexible bionic robotic fish
一种自适应双稳态柔性仿生机器鱼
2024-06-14
Patent
Electronic Resource
Chinese