The invention provides a flexible fin-tail handle synergistically driven bionic fugu robotic fish. The flexible fin-tail handle synergistically driven bionic fugu robotic fish comprises a fish head cabin, a fish body first cabin, a fish body second cabin, a fish body third cabin, a fish body fourth cabin, pectoral fins, dorsal fins, anal fins and tail fins, wherein the pectoral fins, the dorsal fins, the anal fins and the tail fins are symmetrically arranged. Through cooperation of the pectoral fin, the dorsal fin, the anal fin and the tail fin, various underwater motions of the bionic fugu robot fish are realized. Wherein each fin ray has independent movement, the fish body and the tail fin serve as main propelling devices and have good propelling capacity, and the pectoral fin is mainly used for advancing and controlling the direction of the bionic fish and coordinating with the tail fin to achieve rapid movement of the bionic fish; the anal fin and the dorsal fin can accelerate complex motion processes such as steering through motion control, and stable motion of the bionic fish is achieved by balancing shaking of the fish head. According to the technical scheme, through coordinated movement of the fins, the posture of the fish body can be regulated and controlled in real time, various complex movements such as rollover, steering and pitching can be efficiently completed, and the high maneuvering characteristic of the bionic robotic fish is achieved.

    本发明提供一种柔性鳍‑尾柄协同驱动的仿生鲀科机器鱼,包括:鱼头舱、鱼体第一舱室、鱼体第二舱室、鱼体第三舱室、鱼体第四舱室、对称设置的胸鳍、背鳍、臀鳍及尾鳍。通过胸鳍、背鳍、臀鳍及尾鳍的共同协作,实现仿生鲀科机器鱼的多样水下运动。其中,每个鳍条具有独立的运动,鱼体和尾鳍作为主要推进装置,具有良好的推进能力,胸鳍主要用于仿生鱼前进和控制方向,协调尾鳍实现仿生鱼快速运动;臀鳍和背鳍通过运动控制可加速如转向等复杂运动进程,并通过平衡鱼头晃动,实现仿生鱼的平稳运动。本发明技术方案,通过鱼鳍间协调运动,能够对鱼体姿态即时调控,高效完成侧翻、转向、俯仰等各种复杂运动,实现仿生机器鱼的高机动特性。


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    Title :

    Flexible fin-tail handle synergistically driven bionic takiridae robotic fish


    Additional title:

    一种柔性鳍-尾柄协同驱动的仿生鲀科机器鱼


    Contributors:
    LI RUOXIN (author) / ZHANG TIANYU (author) / WANG PENGFEI (author) / ZOU SHAOPENG (author) / HAN YANG (author) / LIU XING (author) / XIANG JING (author) / ZHAO QINGYANG (author) / HU SHOUJUN (author)

    Publication date :

    2024-06-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING



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