The invention discloses an underwater bionic robot with a flexible fishtail and a control method.The robot comprises a shell part, a pectoral fin module, a tail propelling module and a control system, the overall shape of the robot is formed by conducting 3D scanning modeling on the shape of a real flying fish, and the tail propelling driving mode of the real fish is simulated through the tail propelling module; two pectoral fins of the pectoral fin module can rotate by 360 degrees so that multi-degree-of-freedom movement of a real fish can be achieved, and a traditional reciprocating swing structure is structurally optimized so that the requirement under high-frequency movement can be met; the control method is based on the standby state, the linear cruising state, the floating and diving state and the turning lamp state of the robot.

    本发明公开了一种柔性鱼尾的水下仿生机器人及控制方法,其中机器人包括外壳部分、胸鳍模块、尾部推进模块、控制系统,机器人的整体外形通过真实的飞鱼外形经过3D扫描建模而成,通过尾部推进模块仿真实鱼的尾部推进驱动方式,通过胸鳍模块的两个胸鳍都可360度旋转可实现真实鱼的多自由度运动,其中对传统的往复摆动结构进行了结构上的优化,使其满足高频运动下的需求;控制方法则是基于机器人的待机、直线巡游、上浮下潜和转弯灯状态进行控制。


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    Title :

    Underwater bionic robot with flexible fishtail and control method


    Additional title:

    一种柔性鱼尾的水下仿生机器人及控制方法


    Contributors:
    HUANG ZHONG (author) / CHEN JIANGJIANG (author) / CHEN HAOZHI (author) / RAN SHIHAO (author) / WANG YANG (author) / ZHAN YEJUN (author) / LIANG ZEDONG (author) / YE ZIHUAN (author)

    Publication date :

    2024-08-16


    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



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