一种摆动式柔性尾部的仿生机器鱼

提出了一种摆动式柔性尾部的仿生机器鱼设计方案,着重解决了机器鱼摆动式推进的问题.在该方案中,应用曲柄摇杆原理,采用了特殊的四连杆摆动机构,结合柔性尾部实现了机器鱼的摆动式推进;巧妙应用了霍尔位置传感器,检测摆杆临界位置,实现了鱼尾位置判断,进而控制鱼尾来转向;研制了以气缸为压缩泵的气路沉浮机构作为"鱼鳔",能使机器鱼进行沉浮动作.实验显示这种机器鱼达到了预期的功能,在水下作业、军事侦察、娱乐等领域有一定的研究应用价值.

A kind of bionic robofish with swaying flexible tail fin

Focusing on solving the problem of swaying propulsion,a design of bionic robofish with swaying flexible tail fin is presented.In this design,according to the principle of crank-rocker,a special four-bar linkage swaying mechanism combined with the flexible tail fin is adopted to guarantee the stable swimming of robofish.The skillful application of hall position sensors achieves the detection of critical position of the swing link,which makes it possible to detect the position of the tail fin and control the turning of robofish.For effective raising and lowering,a mechanism using a cylinder as a pump to imitate the swimming bladder is developed.Experiments show that the robofish with our new swaying mechanism gets the desired performance.It can be applied to various fields,including underwater tasks,military reconnaissance and entertainments.