The invention relates to a small soft robotic fish tail fin thrust measuring device and method. The upper end of a swing rod is hinged to a mounting frame and rotates around the Y direction, a tension sensor is arranged on one side of the mounting frame and connected with the swing rod through a pull wire, and a soft driver is hinged to the lower end of the swing rod and rotates around the Z direction; a robotic fish tail fin is arranged at the rear end of the soft driver; a hinge frame is arranged at the lower end of the swing rod, a hinge seat is arranged at the front end of the soft driver, the front end of the hinge seat is rotationally connected with the hinge frame through a hinge shaft, the hinge shaft is arranged at the center of a limiting disc, limiting pin holes are evenly distributed in the circumferential edge of the limiting disc, and limiting pins for limiting the swing angle of the hinge seat are inserted into two of the limiting pin holes. The robot fish tail fin is driven by the soft driver to periodically swing around the lower end of the swing rod, thrust generated by the robot fish tail fin can drive the swing rod to rotate and pull the pull wire, and therefore thrust measurement of the robot fish tail fin can be achieved through the tension sensor connected with the pull wire.
本发明涉及一种小型软体机器鱼尾鳍推力测量装置及方法,其中摆动杆上端与安装架铰接且绕Y向转动,安装架一侧设有拉力传感器,且拉力传感器通过拉线与摆动杆连接,软体驱动器与摆动杆下端铰接且绕Z向转动,软体驱动器后端设有机器鱼尾鳍;摆动杆下端设有铰接架,软体驱动器前端设有铰接座,且铰接座前端通过铰接轴与铰接架转动连接,所述铰接轴设于限位盘的中心处,且所述限位盘的圆周边缘均布有限位销孔,其中两个限位销孔中插装有限定铰接座摆动角度的限位销。本发明通过软体驱动器带动机器鱼尾鳍绕摆动杆下端周期性摆动,而机器鱼尾鳍产生的推力会驱动摆动杆转动并拉动拉线,从而能够利用与拉线相连的拉力传感器实现机器鱼尾鳍的推力测量。
Small soft robotic fish tail fin thrust measuring device and method
一种小型软体机器鱼尾鳍推力测量装置及方法
2025-02-18
Patent
Electronic Resource
Chinese
IPC: | G01L Messen von Kraft, mechanischer Spannung, Drehmoment, Arbeit, mechanischer Leistung, mechanischem Wirkungsgrad oder des Drucks von Fluiden , MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE / 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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