Manta ray imitating pectoral fin mechanism and manta ray imitating robot

Abstract

The invention relates to a manta ray imitating pectoral fin mechanism and a manta ray imitating robot. The manta ray imitating pectoral fin mechanism comprises a pectoral fin framework, a front edge rope, a rear edge rope and a flexible fin skin; the pectoral fin framework comprises a root supporting framework and a multi-stage swing supporting framework, each stage of swing supporting framework is correspondingly provided with a differential driving unit, and each stage of differential driving unit comprises a connecting piece and a driving assembly fixedly connected to the connecting piece; wherein the connecting piece of the first-stage differential driving unit is fixedly connected to the root supporting framework, and the connecting pieces of the other stages of differential driving units are fixedly connected to the upper-stage swing supporting framework; and the driving assembly of each stage of differential driving unit drives the swing supporting framework of the same stage to rotate with a straight line on the section of the pectoral fin supported by the swing supporting framework as the axis and rotate with a vertical line of the section of the pectoral fin as the axis. The manta ray imitating pectoral fin mechanism has multiple degrees of freedom, and movement of the manta ray imitating pectoral fin mechanism is completely controllable.

Description

technical field [0001] The invention belongs to the technical field of underwater bionic robots, in particular to a manta ray imitation pectoral fin mechanism and a manta ray imitation robot. Background technique [0002] The body of the manta ray is flat and diamond-shaped, with a body length of up to 8 meters and a weight of more than 1 ton. It has powerful pectoral fins, which generate forward thrust through the undulating movement of the pectoral fins. It is also very strong and can turn in place quickly and flexibly. The movement of manta ray pectoral fins presents a strong three-dimensional feature, which can be considered as a synthesis of undulating movements in the lateral direction (that is, the span direction) and the forward direction (that is, the chord direction). The manta-like pectoral fin mechanism is based on the biological prototype of the manta ray, imitating the movement characteristics of the manta ray's flexible pectoral fins, and using a special mech...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the related technologies, the present invention provides a manta ray imitation pectoral fin mechanism and a manta ray imitation robot, the imitation manta ray pectoral fin mechanism has multiple degrees of freedom, and its movement is fully controllable, to solve the technical problems of less degrees of freedom and uncontrollable movement in the existing manta ray imitation pectoral fin mechanism

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