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Double bodies machinery fish

A technology of robotic fish and fish head, applied in the field of robotics, to achieve the effects of avoiding bow movement, increasing effective swing, and good maneuverability

Inactive Publication Date: 2009-05-27
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0007] The purpose of the present invention is to provide a two-body robotic fish that can solve the problem of the bionic robotic fish heading swaying in terms of mechanical structure

Method used

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Embodiment Construction

[0039] The present invention is described in more detail below in conjunction with accompanying drawing example:

[0040] The double-body robot fish includes a fish head part of the robot fish, two sets of tail swing driving mechanisms are installed behind the fish head part, and the two sets of tail swing drive mechanisms are connected side by side with the fish head. The tail structure must be symmetrically designed, and swing symmetrically left and right when swimming forward, so as to ensure that the robotic fish swims forward at high speed, and can turn when the two tails swing in the same direction.

[0041] Two-body robot fish tail structure design can adopt the following three design schemes:

[0042] Tail structure design scheme 1:

[0043] As shown in Figure 3 and Figure 4, it is propelled by a four-bar linkage mechanism and a two-stage joint fluctuation of the tail link. Including rod 2, L-shaped connecting rod 4, rod 6, rod 8 and rotating shafts 1, 3, 5, 7, where...

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Abstract

The invention provides a twin-body mechanical fish which comprises a fish head part of the mechanical fish; two sets of tail-waving drive mechanism are arranged on the back of the fish head part, and are connected with the fish head in row; compared with a mechanical fish propelled by a single tail fin, the twin-body biomimetic mechanical fish not only makes use of, and develops the advantages of the fish-liked propelling, but also overcomes the head shaking problem of the single-tail propelling, and ensures the navigating stability of the biomimetic mechanical fish, thereby, reducing the navigating resistance of the mechanical fish, and improving the efficiency of the tail-biomimetic propeller.

Description

(1) Technical field [0001] The invention relates to a robot, in particular to a bionic fish robot without yaw motion. (2) Background technology [0002] Modern research on the swimming mechanism of fish began in the 1930s. However, it has been shown from the open literature that the research on this aspect has made rapid progress in the past fifteen years, and a large amount of research on the propulsion mechanism of the imitation fish began in the middle and late nineties. Lighthill was the first to classify and analyze the swimming methods of animals in water. According to the characteristics of fish propulsion, underwater propellers can be divided into two basic modes: one is anguilliform, such as hagfish, etc.; the other is carangiform, such as dolphins and Tuna etc. Anguilliform is characterized by the fact that the entire body (or almost the entire body) participates in large-amplitude fluctuations. Since at least one complete wavelength is provided over the entire ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B63H1/36A63H11/00
Inventor 季宝锋孙艳杰陈东良贾守波刘增文王立权常媛媛张永锐
Owner HARBIN ENG UNIV
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