The invention discloses a manta ray-imitated underwater vehicle with pectoral fins capable of actively and passively deforming, and belongs to the technical field of bionic robots. Comprising a manta ray-imitated skeleton, a plurality of driving joints mounted on the manta ray-imitated skeleton and a skin covering the outer surface of the manta ray-imitated skeleton, and the driving joints are angle servo drivers; the manta ray imitating skeleton comprises a trunk skeleton and pectoral fin skeletons, and the two pectoral fin skeletons are symmetrically arranged on the two sides of the trunk skeleton and are coupled with the driving joints to form linkage pectoral fins; series-parallel control is carried out on the multiple driving joints through the control module, and deformation movement of the pectoral fin in the spanwise direction and deformation movement of the pectoral fin in the chordwise direction are achieved. And the manta ray imitating skeleton and the driving joint are packaged through the skin to form a bionic appearance. According to the bionic multi-joint pectoral fin, large deformation movement in the spanwise direction and fluctuation transmission in the chordwise direction of the bionic multi-joint pectoral fin are achieved, and the bionic pectoral fin shows complex flexible movement similar to that of a real manta ray pectoral fin in the movement process.

    本发明一种胸鳍可主被动变形的仿蝠鲼水下航行器,属于仿生机器人技术领域;包括仿蝠鲼骨架及安装于其上的多个驱动关节、包覆于其外表面的蒙皮,驱动关节为角度伺服的驱动器;所述仿蝠鲼骨架包括躯干骨架和胸鳍骨架,两组胸鳍骨架对称设置于躯干骨架的两侧,与多个驱动关节耦合为联动式胸鳍;通过控制模块对多个驱动关节进行混联控制,实现胸鳍沿展向的变形运动和沿弦向的变形运动;通过蒙皮对仿蝠鲼骨架和驱动关节进行封装,构成仿生外形。本发明实现了仿生多关节胸鳍沿展向的大变形运动和沿弦向的波动传递,使该仿生胸鳍在运动中展现出与真实蝠鲼胸鳍类似的复杂柔性运动。


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    Title :

    Manta ray-imitated underwater vehicle with pectoral fins capable of actively and passively deforming


    Additional title:

    一种胸鳍可主被动变形的仿蝠鲼水下航行器


    Contributors:
    HUANG QIAOGAO (author) / LI XIN (author) / LUO YANG (author) / BAO TIAN (author) / CHU YONG (author) / PAN GUANG (author)

    Publication date :

    2025-01-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL



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