Design method of flexible bionic robot fish adopting rope redundant actuation and robot fish

Abstract

The invention discloses a design method of a flexible bionic robot fish adopting rope redundant actuation. The design method reproduces the uneven distribution of spine stiffness of a fish body by designing different types of flexible fish body spine models, and simulates a unique deformation process of the fish body by adding the redundant actuation. The design method of the flexible bionic robotfish adopting the rope redundant actuation reproduces the uneven distribution of the spine stiffness of the fish body by adopting a mode of superposing a continuous elastic beam and a multi-spine module, and simulates the unique deformation process of the fish body by adding the redundant actuation. The structure entirely considers the influence of the stiffness characteristics of the fish on thepropulsion performance of the fish, and has important significance for improving the swimming performance of the bionic fish.

Description

technical field [0001] The invention is mainly applied to the field of bionic underwater robots, specifically a flexible bionic robot fish driven by redundant ropes. Background technique [0002] Traditionally, propeller-propelled ships or autonomous unmanned submersible vehicles (AVU) have obvious defects such as slow propulsion speed, low efficiency, poor maneuverability, and large disturbance to the environment. In nature, flexible fish achieve fast and efficient swimming performance through reciprocating oscillations of the body and / or tail fin. In recent years, more and more scientific researchers have been attracted by the fast cruising performance and flexible mobility of fish, and gradually revealed the fast and efficient swimming mechanism of fish from the perspective of hydrodynamics. However, the produced bionic robot fish is far behind the fish in nature no matter in swimming speed, propulsion efficiency or turning maneuverability. Although after many years of ...

AI Technical Summary

Problems solved by technology

However, due to the physical properties of viscoelastic materials, the robotic fish produced cannot change the bending stiffness of its body, and its adaptability to different external environments is poor.

Although the above-mentioned flexible robotic fish has a certain degree of compliance, it is far inferior to fish in nature in terms of swimming speed, propulsion efficiency and maneuverability.

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