The invention belongs to the related technical field of underwater bionic robots, and discloses a variable-rigidity bionic pectoral fin, a bionic manta ray robot and a control method thereof, and the variable-rigidity bionic pectoral fin comprises a fin ray module and a flexible skin; the fin ray module comprises an exoskeleton, a flapping steering engine and a limiting structure; the flapping steering engine is used for driving the exoskeleton to rotate so as to drive the flexible skin to oscillate up and down; the limiting structure extends in the spanwise direction of the exoskeleton and is connected with the exoskeleton, the limiting structure has a non-constrained state and a constrained state, and when the limiting structure is in the non-constrained state, rotation of the exoskeleton is not constrained, so that the variable-rigidity bionic pectoral fin is in a rigid flapping mode; when the limiting structure is in the restrained state, rotation of the exoskeleton is restrained, and the variable-rigidity bionic pectoral fin is in the flexible warping mode by limiting rotation of the exoskeleton. According to the bionic pectoral fin, the function of the bionic pectoral fin is expanded structurally, the diversity of movement is expanded, and the hydrodynamic performance of the flexible skin is changed structurally.
本发明属于水下仿生机器人相关技术领域,其公开了一种可变刚度仿生胸鳍、仿生蝠鲼机器人及其控制方法,其中可变刚度仿生胸鳍包括鳍条模块和柔性蒙皮;鳍条模块包括外骨骼、扑动舵机和限制结构,扑动舵机用于驱动外骨骼转动以带动柔性蒙皮上下振荡;限制结构沿外骨骼的展向延伸设置并与外骨骼相连,具有非约束态和约束态,限制结构处于非约束态时,对外骨骼的转动不产生约束使得可变刚度仿生胸鳍处于刚性扑动模态;限制结构处于约束态时,对外骨骼的转动产生约束通过限制外骨骼转动,使得可变刚度仿生胸鳍处于柔性翘曲模态。本发明在结构上拓展了仿生胸鳍的功能,扩展了运动的多样性,实现了在结构上改变柔性蒙皮水动力学性能。
Variable-rigidity bionic pectoral fin, bionic manta ray robot and control method of bionic pectoral fin and bionic manta ray robot
一种可变刚度仿生胸鳍、仿生蝠鲼机器人及其控制方法
2025-01-21
Patent
Electronic Resource
Chinese
CPG Motion Control for a Bionic Manta Ray Robot Fish Propelled by Flexible Pectoral Fin
DOAJ | 2023
|