The invention provides a hybrid power bionic robotic fish and a control method thereof, and relates to the technical field of bionic robots. The two pectoral fins comprise pectoral fin motors and pectoral fin plates, the pectoral fin plates comprise a plurality of rigid plates, flexible plates and a plurality of limiting mechanisms, the flexible plates are connected with the rigid plates respectively, and each limiting mechanism is arranged between every two adjacent rigid plates, so that the pectoral fin plates cannot be bent when swinging backwards and can be bent when swinging forwards; the tail fin is driven by the tail fin motor to rotate; the controller controls the two pectoral fin motors and the tail fin motor to rotate through a CPG control network, the CPG control network is composed of three oscillator units, and output angles of the three oscillator units correspond to rotation angle changes of the two pectoral fin motors and the tail fin motor respectively. The method has the beneficial effects that the CPG control network is used for controlling coupling cooperative movement of the two pectoral fins and the tail fin, random switching between pectoral fin propelling and tail fin propelling can be achieved, and hybrid driving of pectoral fin propelling and tail fin propelling can be achieved.

    本发明提供一种混合动力仿生机器鱼及其控制方法,涉及仿生机器人技术领域,该机器鱼包括:鱼身;两胸鳍,胸鳍包括胸鳍电机和胸鳍板,胸鳍板包括多个刚性板、柔性板和多个限位机构,柔性板分别连接各刚性板,每一限位机构设置于相邻两刚性板之间,使胸鳍板向后摆动时无法弯曲、向前摆动时能够弯曲;尾鳍,受尾鳍电机驱动而转动;以及控制器,通过CPG控制网络控制两胸鳍电机和尾鳍电机转动,CPG控制网络由三个振荡器单元组成,三振荡器单元的输出角度分别对应两胸鳍电机和尾鳍电机的转动角度变化。本发明的有益效果:通过CPG控制网络控制两胸鳍和尾鳍耦合协同运动,可以在胸鳍推进和尾鳍推进之间任意切换,还可以实现胸鳍推进和尾鳍推进的混合驱动。


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    Title :

    Hybrid power bionic robotic fish and control method thereof


    Additional title:

    一种混合动力仿生机器鱼及其控制方法


    Contributors:
    LIANG LIN (author) / ZUO QIYANG (author) / CHEN ZHEN (author) / GAO XINYI (author)

    Publication date :

    2024-12-24


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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