Three-degree-of-freedom bionic pectoral fin propelling mechanism based on carangoid

• Main Authors: YAN JIAN, GE LIMING, SHI HUIRONG, JI QING'EN, MA YOUTIAN, LI ZONGGANG, XIA WENQING
• Format: Patent
• Language: Chinese; English
• Published: 29.08.2017
• Subjects: MARINE PROPULSION OR STEERING; PERFORMING OPERATIONS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; TRANSPORTING

The invention relates to the technical field of bionic robotic fishes, in particular to a three-degree-of-freedom bionic pectoral fin propelling mechanism based on carangoid. The three-degree-of-freedom bionic pectoral fin propelling mechanism comprises two sets of symmetrically placed flap wing propelling mechanisms of pectoral fins and two sets of swing wing propelling mechanism connected with the flap wing propelling mechanism. The flap wing mechanism achieves flap wing motion up and down and left and right, and the swing wing mechanism achieves integral rotation motion. The flap wing motion and swing wing motion of pectoral fin propelling mechanisms are mutually separated and mutually not interfered, can both move separately and move in a coupling mode, and can achieve propelling force in any direction, and therefore complex three-dimensional motion of the robotic fish in space can be achieved. Compared with most previous robotic fishes, no matter in terms of diversity of driving forms and the number of d