The invention belongs to the field of underwater biomimetic robots, and discloses an underwater biomimetic robot with a matched tail gear and a control method.The underwater biomimetic robot comprises a shell part, pectoral fin modules, a tail module, a transmission module and a control system.The tail module is connected with the shell part through the transmission module, and the pectoral fin modules are symmetrically installed at the two ends of the shell part; the control system is installed in the shell part and controls the transmission module so as to drive the tail module to move. Different gears of the first joint and the second joint of the tail are meshed, various motion postures can be achieved, all driving is achieved through a swing mechanism and a mechanical structure only through one motor, the structure is simple and compact, meanwhile, the pair of pectoral fins can float and dive, and motion of various degrees of freedom can be achieved through motion coupling with the tail module.

    本发明属于水下仿生机器人领域,公开了一种尾部带齿轮配合的水下仿生机器人及控制方法,包括壳体部分、胸鳍模块、尾部模块、传动模块和控制系统,所述尾部模块通过传动模块与壳体部分连接,所述胸鳍模块对称安装在壳体部分两端,所述控制系统安装在壳体部分内,控制传动模块,从而带动尾部模块运动。本发明利用尾部第一第二关节不同的齿轮啮合,可以实现多种的运动姿态,所有的驱动仅由一个电机通过摆动机构和机械结构实现,结构简单紧凑,同时一对胸鳍可实现上浮和下潜,通过与尾部模块的运动耦合可实现多种自由度的运动。


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    Title :

    Underwater bionic robot with gear matching at tail part and control method


    Additional title:

    一种尾部带齿轮配合的水下仿生机器人及控制方法


    Contributors:
    HUANG ZHONG (author) / CHEN HAOZHI (author) / CHEN JIANGJIANG (author) / HUANG MENGXING (author) / ZHANG JUNFENG (author) / RAN SHIHAO (author) / WANG YANG (author)

    Publication date :

    2024-06-18


    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 / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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