Fish tail-simulated two-degree-of-freedom swinging flexible parallel mechanism

Abstract

The invention provides a fish tail-simulated two-degree-of-freedom swinging flexible parallel mechanism. The fish tail-simulated two-degree-of-freedom swinging flexible parallel mechanism mainly includes two parts of a trunk and a tail; a flexible mechanism is used for replacing a multi-rigid body series mechanism at the tail of a bionic fish; the flexible mechanism is composed of a plurality of flexible connecting rods, is linked by hinges, and is driven by two drive devices with linear drive; when the linear drive devices move, the deformation of the flexible rods causes the entire mechanismto exhibit the swinging motion of a fish tail. The double structures of the flexible rods and two drive devices can realize the opposite movement tendency of the fish tail tip and the whole fish tail, thus the function of the original structure can be realized, more smooth effect is achieved, and a bionic effect is achieved. The fish tail-simulated two-degree-of-freedom swinging flexible parallelmechanism reduces the complexity of a mechanism and a circuit; at the same time, the fish tail-simulated two-degree-of-freedom swinging flexible parallel mechanism better imitates the movement of a fish and enhances the flexibility and smoothness of the movement.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a fish tail swing mechanism of a bionic robot fish, which can be used for fish tail swing experiment research, and can be extended to small underwater equipment or small unmanned underwater detectors. Background technique [0002] In recent years, the scope of application of bionic robots has continued to expand, research on bionic robots has also increased, and the number of robots for bionic fish has gradually increased. In the process of swimming, the fish needs to obtain forward speed through the swing of the tail, and the swing of the tail requires the cooperation of multiple coccyx joints, instead of relying solely on the swing of the tail alone, the end of the fish tail should be in line with the overall movement direction of the fish tail It is always the opposite, so the tail should be regarded as a series of multi-rigid body systems rather than a single rigid...

AI Technical Summary

Problems solved by technology

However, while the above invention realizes the bionic swing of fish, there are still problems such as relatively complicated mechanism and insufficient smooth motion, and no swing device that can completely overcome the above problems has been found in the search of existing patent technologies.

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