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Bionic long fin fluctuating propulsion experimental apparatus

A technology of wave propulsion and experimental device, applied in the field of bionic robotic fish, which can solve the problems of less research and experimental system development.

Active Publication Date: 2009-05-20
INST OF AUTOMATION CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The previous research work is mainly carried out on fish with high cruising speed and high swimming efficiency, while there is relatively little research and experimental system development work on fish with high mobility

Method used

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  • Bionic long fin fluctuating propulsion experimental apparatus
  • Bionic long fin fluctuating propulsion experimental apparatus
  • Bionic long fin fluctuating propulsion experimental apparatus

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0048] According to the mechanical structure and control circuit structure described in the present invention, an experimental device for imitating growth fin wave propulsion is produced. Its main part parallel guide rail 32, hanger 31, bracing frame 11 adopt stainless steel plate to make. The connection block 13 is made of aluminum. The fin surface 19 is made of 0.5 mm thick rubber, and the fin surface 19 is fixed with the fin ray 18 by an adhesive. The driving steering gear 12 of the fin rays 18 adopts the S3003 of FUTABA. The control circuit diagram is shown in Figure 7. The microcontroller adopts the AVR series, and the FPGA is selected as the motor PWM signal generation module, and the rechargeable battery is used as the power supply of the motor and the control circuit.

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Abstract

The invention provides a bionic long fin undulating propulsion experimental facility. The facility comprises a bionic long fin mechanism, a follow-up system and a mechanical connecting piece, wherein the follow-up system is formed by a suspension bracket and a parallel guide rail, is used as a bracket and motion guide for the bionic long fin mechanism, and provides convenience for measuring the movement performance of the bionic long fin mechanism. The bionic long fin mechanism is formed by a plurality of steering gears which are fixed together through a support bracket and connecting block, wherein a turnplate of each steering gear is provided with fine cylindrical fins; an elastic film with the width corresponding to the length of the fins is used to connect all the fine cylindrical fins; and the bionic long fin mechanism is fixed with the suspension bracket in the follow-up system through the mechanical connecting piece. Propulsive force can be generated by means of harmoniously controlling the plurality of steering gears so as to realize swimming forward and backward and rotating movement around the self center shaft. The device can be used to research the movement principle and an optimized control method of the bionic long fin mechanism, and can also be further developed into an underwater exploring robot, an entertaining robot and the like.

Description

technical field [0001] The invention relates to the technical field of bionic robot fish, and belongs to an electromechanical integration device, in particular to an experimental device for imitating long fin wave propulsion designed for studying the swimming mechanism and optimal control method of the eel family and the ray family. Background technique [0002] Before the 1990s, the research on fish bionics was mainly theoretical research. After the 1990s, with the rapid development of electronic technology, new materials, and robot technology, the research on bionic robot fish has been gradually carried out at home and abroad. What has achieved good results in this regard is the bionic robot tuna developed by the research group of MIT University in the United States for the study of eddy current control and drag reduction mechanism. A robotic eel developed by Northeastern University using shape memory alloys and linkages. Professor Fukuda of Nagoya University in Japan st...

Claims

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Application Information

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IPC IPC(8): G01M13/02B63H1/36
Inventor 王硕谭民董翔曹志强
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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