A soft-body robotic fish driven by shape memory alloy

Abstract

The invention provides a soft-body robot fish driven by a shape memory alloy, which comprises a fish body, two pectoral fins arranged on two sides of the fish body, an air bag arranged in the fish body, a power supply module and a control module. The fish body and the pectoral fin are both of soft structure, A rotary shaft is pierced on the front side of the fish body, two pectoral fins are respectively arranged at two ends of the rotating shaft, A memory alloy plate wound with a resistance wire for control that forward movement of the fish body is arranged at the side part of the pectoral fin, The side wall of the rotating shaft is provided with a memory alloy spring for controlling the rotation of the rotating shaft, the memory alloy plate and the memory alloy spring are respectively electrically connected with the power supply module, and the power supply module is electrically connected with the control module. The soft-body robot fish driven by the shape memory alloy of the technical proposal of the invention has strong applicability, can realize multi-direction travel and turn of the fish body in different water areas, and has simple control structure and strong structural stability.

Description

technical field [0001] The invention relates to the technical field of underwater bionic robots, in particular to a soft robotic fish driven by a shape memory alloy. Background technique [0002] Since MIT successfully developed the world's first truly tail-wagging bionic tuna in 1994, more and more attention has been paid to bionic fish at home and abroad. [0003] A lot of research has been done on bionic fish at home and abroad. In China, the Institute of Automation of the Chinese Academy of Sciences has developed a method of using a motor to control the rotation of the fish tail. Method”; the Shenyang Institute of Automation, Chinese Academy of Sciences has developed a bionic robot fish model of vehicle joints. The Robotics Institute of Beihang University has studied robotic eels and robotic dolphins. Abroad, the Northeastern University Marine Science and Technology Center in the United States has developed a wave-propelled robot eel by using shape memory alloys and co...

AI Technical Summary

Problems solved by technology

[0005] At present, large-scale robotic fish with large driving forces such as traditional electric, hydraulic, and pneumatic systems have great advantages in speed. Mechanical structures such as connecting rods or joints, resulting in a large volume and weight of the bionic fish, and a complex structure, which greatly increases the complexity of the robot; at the same time, based on the above-mentioned complex structure, the control of the bionic fish is complicated, and the bionic fish is in operation. It is prone to control failures, resulting in the failure of the bionic fish to work normally. In addition, the applicability of the existing bionic fish is poor, and the bionic fish cannot run stably in waters with different water densities, that is, each bionic fish can only travel in designated waters

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