Design of a Robotic Fish Based on a Passive Flexible Mechanism | |
Lu Ben1,2; Yuzhuo Fu1,2; Qianqian Zou1,2; Sai Deng2; Chao Zhou2 | |
2019 | |
会议日期 | 2019.12.6 |
会议地点 | 云南大理 |
英文摘要 | In recent years, along with the rapid development of manufacturing, control, sensing and other technologies, biomimetic robotic fish has played an increasingly important role in marine exploration, underwater rescue, water quality monitoring and other fields. This paper designed a robotic fish based on a passive flexible mechanism to realize the fish -like propulsion function. The motion simulation of the designed transmission mechanism was carried out to get the actual curve of the structure. Through the analysis of the force of the fishtail, the preliminary selection scheme of the elastic joints based on the passive flexible mechanism was obtained. Finally, this paper built a robotic fish based on a passive flexible mechanism, which could achieve the motion frequency adjustable from 0.5 to 9 Hz, and the maximum swimming speed reaching 1.05 BL/s (BL, bo dy length). This design scheme provided a new reference for the design of the biomimetic robotic fish and had certain practical significance. |
语种 | 英语 |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/56521] ![]() |
专题 | 复杂系统管理与控制国家重点实验室_水下机器人 |
通讯作者 | Chao Zhou |
作者单位 | 1.School of Artificial Intelligence, University of Chinese Academy of Sciences, Beijing, 100049, China 2.tate Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China |
推荐引用方式 GB/T 7714 | Lu Ben,Yuzhuo Fu,Qianqian Zou,et al. Design of a Robotic Fish Based on a Passive Flexible Mechanism[C]. 见:. 云南大理. 2019.12.6. |
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