The invention discloses a reconstructed underwater robot and a control method thereof.The reconstructed underwater robot comprises a robot body and further comprises bionic undulating fin assemblies symmetrically arranged on the two sides of the robot body through connecting assemblies; the connecting assembly comprises a first joint shaft rotationally connected with the robot body and a second joint shaft rotationally connected with the bionic undulating fin assembly, the first joint shaft drives the bionic undulating fin assembly to rotate around the length direction of the robot body, and the second joint shaft drives the bionic undulating fin assembly to rotate around the height direction of the robot body. And reconstructing the configuration of the underwater robot. By adjusting the first joint shaft and the second joint shaft, the relative position of the bionic undulating fin assembly and the robot body can be changed, the robot can be reconstructed into an H-shaped configuration, an X-shaped configuration, a rhombic configuration and a V-shaped configuration, and in other words, different propelling forms can be achieved through different configurations, maneuverability is high, and the robot can adapt to the complex underwater environment.

    本发明公开了一种重构水下机器人及其控制方法,重构水下机器人包括机器人主体,还包括通过连接组件对称设置在机器人主体两侧的仿生波动鳍组件,所述连接组件包括机器人主体转动连接的第一关节轴和与仿生波动鳍组件转动连接的第二关节轴,所述第一关节轴带动仿生波动鳍组件绕着机器人主体长度方向转动,第二关节轴带动仿生波动鳍组件绕着机器人主体高度方向转动,重构水下机器人的构型。本发明通过调整第一关节轴和第二关节轴,可以改变仿生波动鳍组件与机器人主体的相对位置,可将机器人重构为H形构型、X形构型、菱形构型和V形构型,即本发明能够以不同的构型实现不同的推进形态,机动性高,可适应复杂的水下环境。


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    Title :

    Reconstruction underwater robot and control method thereof


    Additional title:

    一种重构水下机器人及其控制方法


    Contributors:
    XIA DAN (author) / LI YUYAO (author) / LEI MING (author) / YAN HAN (author)

    Publication date :

    2024-07-16


    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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