Bionic robotic fish with three-joint mechanism

• Main Authors: XU RUOXIANG, FU YONG, LIU JIAQIANG, LIU BAO, CHEN KUN, GAO MENGLIN
• Format: Patent
• Language: Chinese; English
• Published: 20.10.2023
• Subjects: AIRCRAFT CARRIERS; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; EQUIPMENT FOR SHIPPING; LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; MARINE PROPULSION OR STEERING; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS; MINE-LAYING; MINE-SWEEPING; OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; PERFORMING OPERATIONS; RELATED EQUIPMENT; SHIPS OR OTHER WATERBORNE VESSELS; SUBMARINES; TRANSPORTING

The utility model discloses a bionic robotic fish driven by a three-joint tail fin. The robotic fish is composed of a fish head part, a connecting base, a fish body part and a tail fin part which are sequentially connected. The head part comprises a rigid fish head, a power supply module, a main control module, an information acquisition module, a pectoral fin driving module and a fixing frame for fixing each module; the connecting base is used for connecting the waist and the head; the body part comprises a three-joint driving mechanism and soft fish skin; and the tail main body is a flexible tail fin. The three-joint steering engine outputs motion with sequentially increased amplitude and phase lag, the waveform of the fish body is approximately fitted, the overall mode conversion is smooth, and the motion is stable and reliable. 本实用新型公开了一种三关节尾鳍驱动的仿生机器鱼，机器鱼由依次连接的鱼头部分、连接基座、鱼身部分及尾鳍部分组成。头部包含刚性鱼头、电源模块、主控制模块、信息采集模块、胸鳍驱动模块和用于固定各模块的固定架；连接基座用于连接腰部和头部；身体部分包含三关节驱动机构和柔软鱼皮；尾部主体为柔顺尾鳍。三关节舵机输出幅值依次变大、相位滞后的运动，近似拟合鱼体波形，整体模式变