The invention provides a variable-rigidity flapping-wing type underwater robotic fish and a working method thereof, and relates to the technical field of underwater robotics.The variable-rigidity flapping-wing type underwater robotic fish comprises a flapping-wing framework, a body, a rotary driving mechanism and a variable-rigidity connecting piece, the flapping-wing framework comprises a plurality of fluctuating moving pieces, the fluctuating moving pieces are sequentially arranged in the first direction, and the variable-rigidity connecting piece is arranged between the main body and the rotary driving mechanism; every two adjacent fluctuating moving pieces are rotationally connected in the second direction, and the first direction is perpendicular to the second direction. The rotary driving mechanism is mounted on the main body, is in driving connection with one end, in the first direction, of the flapping wing framework, and is used for driving the flapping wing framework to rotate around the second direction; and the variable-rigidity connecting piece is made of a raw material comprising a variable-rigidity material, has a rigid state and a flexible state, is connected with the multiple fluctuating moving pieces and is used for switching between the rigid state and the flexible state through external excitation. According to the invention, the underwater operation persistence of the underwater robotic fish can be improved through the rigidity change of the variable-rigidity connecting piece.
本发明提供了一种变刚度扑翼式水下机器鱼及其工作方法,涉及水下机器人技术领域,该变刚度扑翼式水下机器鱼包括扑翼骨架、主体、旋转驱动机构和变刚度连接件,扑翼骨架包括多个起伏移动件,多个起伏移动件沿第一方向依次排布,相邻两个起伏移动件绕第二方向转动连接,第一方向与第二方向垂直;旋转驱动机构安装在主体上,且与扑翼骨架沿第一方向的一端驱动连接,旋转驱动机构用于驱动扑翼骨架绕第二方向转动;变刚度连接件由包括变刚度材料的原料制成,且具有刚性态和柔性态,变刚度连接件与多个起伏移动件均连接,且用于通过外界激励在刚性态和柔性态之间转换。本发明可通过变刚度连接件的刚度变化提升水下机器鱼在水下运行的持久度。
Variable-stiffness flapping wing type underwater robotic fish and working method thereof
一种变刚度扑翼式水下机器鱼及其工作方法
2024-09-27
Patent
Electronic Resource
Chinese