The invention discloses a pose-adaptive three-degree-of-freedom bionic pectoral fin mechanism, which is mounted in a bionic robotic fish head to control motion of a pectoral fin surface, and is characterized by comprising an inner gear frame, a first hinge, a second hinge, a right three-degree-of-freedom bionic pectoral fin mechanism and a left three-degree-of-freedom bionic pectoral fin mechanism, the left three-freedom bionic pectoral fin mechanism and the right three-freedom bionic pectoral fin mechanism are both connected to the inner gear frame, and pectoral fin swing rods on the left side and the right side can be independently controlled to achieve front-back wing flapping movement, up-down wing flapping movement and wing swinging movement on the left side and the right side and adjust the poses of the pectoral fin mechanisms relative to a plane mirror image in the middle of the inner gear frame. The inner gear carrier is fixed in the robotic fish body. According to the three-degree-of-freedom bionic pectoral fin mechanism, front-back wing flapping movement, up-down wing flapping movement, wing rocking movement and two or three combined movement can be completed, the problem that different bionic fish pectoral fins grow at different positions can be remarkably solved, and therefore the installation position of the three-degree-of-freedom bionic pectoral fin mechanism is adjusted in a self-adaptive mode.
本发明公开了一种位姿自适应的三自由度仿生胸鳍机构,安装于仿生机器鱼鱼头内部控制胸鳍鳍面运动,其特征在于:包括内齿轮架,第一合页,第二合页,右侧三自由仿生胸鳍机构和左侧三自由仿生胸鳍机构;左侧三自由仿生胸鳍机构和右侧三自由仿生胸鳍机构均连接于内齿轮架且关于内齿轮架中间平面镜像,左右两侧可独立控制胸鳍摆动杆实现左右两侧前后拍翼运动、上下拍翼运动,摇翼运动以及调整胸鳍机构位姿;内齿轮架固定至机器鱼本体内。本发明既能完成前后拍翼运动、上下拍翼运动、摇翼运动以及其中两者或三者复合运动的问题,又能显著解决不同仿生鱼类胸鳍生长位置不同的问题,从而自适应调整三自由度仿生胸鳍机构的安装位置。
Pose-adaptive three-degree-of-freedom bionic pectoral fin mechanism
一种位姿自适应的三自由度仿生胸鳍机构
2024-11-08
Patent
Electronic Resource
Chinese
Three-degree-of-freedom pectoral fin driven bionic robotic fish
European Patent Office | 2021
|European Patent Office | 2025
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