The invention provides a rigid-flexible coupling bionic pectoral fin propelling device which comprises a series multi-joint driving assembly, flexible fin ray assemblies and a profiling shell assembly, and the flexible fin ray assemblies are installed on the front side and the rear side of the series multi-joint driving assembly. The flexible fin ray assembly is provided with a profiling shell assembly which wraps the series-connection multi-joint driving assembly and the flexible fin ray assembly. According to the rigid-flexible coupling bionic pectoral fin propelling device, the series-connection multi-joint driving assembly drives the inner frame to move in the spanwise direction and the chordwise direction, an output shaft of each motor independently provides driving force in one direction, the front flexible fin ray and the rear flexible fin ray connected with the frame move along the fin line, and then multi-degree-of-freedom controllable fin surface flexible deformation is achieved; therefore, the propelling efficiency and maneuverability of an existing MPF bionic propelling platform are improved, and the method has important significance on development of the underwater robot propelling technology.
本发明提供一种刚柔耦合仿生胸鳍推进装置,包括串联多关节驱动组件、柔性鳍条组件和仿形壳体组件,串联多关节驱动组件的前后两侧安装柔性鳍条组件,柔性鳍条组件上安装仿形壳体组件将串联多关节驱动组件和柔性鳍条组件包裹其中。本发明的刚柔耦合仿生胸鳍推进装置通过串联多关节驱动组件驱动内部框架分别绕展向和弦向方向运动,每个电机的输出轴单独提供一个方向的驱动力,与框架相连的前后柔性鳍条沿鳍线随动,继而实现多自由度可控的鳍面柔性变形,从而提升现有MPF仿生推进平台的推进效率和机动性,对水下机器人推进技术的发展有着重要的意义。
Rigid-flexible coupling bionic pectoral fin propelling device
一种刚柔耦合仿生胸鳍推进装置
2024-06-14
Patent
Electronic Resource
Chinese
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