CN103879535A - Robotic fish with independent chain-shaped tail support and snorkeling method of robotic fish - Google Patents
Robotic fish with independent chain-shaped tail support and snorkeling method of robotic fish Download PDFInfo
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- CN103879535A CN103879535A CN201410088557.5A CN201410088557A CN103879535A CN 103879535 A CN103879535 A CN 103879535A CN 201410088557 A CN201410088557 A CN 201410088557A CN 103879535 A CN103879535 A CN 103879535A
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Abstract
The invention discloses a robotic fish with an independent chain-shaped tail support and a snorkeling method of the robotic fish. The robotic fish with the independent chain-shaped support comprises a head, a middle supporting plate, a tail, a pectoral fin and a tail fin. The head comprises a left head shell, a right head shell, a trapezoid partitioning plate, a pectoral fin rudder support, a pectoral fin rudder, a planar double-rocking-bar mechanism, a pectoral fin shaft, a pectoral fin shaft supporting pat, a battery and a circuit board, and the tail comprises the chain-shaped tail support, a fish skin, a first joint, a second joint, a third joint, a first linkage disc, a second linkage disc, a rudder fixing part and a tail fin clamp. The tail fin comprises a tail fin piece and a tail fin insertion part. The pectoral fin comprises a left pectoral fin piece and a right pectoral fin piece. The robotic fish is beautiful, exquisite and vivid in shape and can be kept in a reasonable form when swimming and turning. The independent chain-shaped tail support is compact in structure, convenient to machine and low in cost and allowed to be independently detached and can keep the robotic fish in the form well when swimming underwater.
Description
Technical field
The present invention relates to bionic machine fish technical field, relate in particular to a kind of the have machine fish of independent chain tail support and the method that snorkels thereof.
Background technology
The development of machine fish has embodied the exploitation pay attention to day by day of the mankind to marine resources, and the research of machine fish need be in conjunction with bionics, machine design, material science, the multinomial subject such as control technology.Environmental area, military field, bio-science field has embodied the bright prospects of machine fish research invariably, and it has become gradually the another study hotspot of robot field since the nineties in last century.
Within 1994, Massachusetts Polytechnics has developed Article 1 machine fish RoboTuna in the world, and its long 1.2 meters, containing 40 root bones, 6 DC machine, nearly 2843 of whole body parts, complex structure, has developed for 3 years consuming time.Since then, researchers have developed panoramic machine fish successively both at home and abroad, take health-tail fin as the main mode of moving about (BCF) is as example, the representative G series machine fish that also has Hu Huosheng team of ESSEX university, be up to now as the machine fish of fish, accurate processing technology and advanced control policy are that it successfully guarantees; Thereby the Christopher Mark Watts of Glasgow university has developed by a motor and has affected two tendon ropes to realize the machine fish swinging on the basis of the preceence of the imitative fish propulsion quality of research, includes 3 anti-water cavity body coverings and is wrapped up by glass fibre; The people such as the Brenden P. Epps of Massachusetts Polytechnics build with the polymeric material that a monoblock is melted the machine fish of having made a whole body softness, have avoided inner body by the possibility of water destruct; The Cao Zhi of Institute of Automation Research of CAS waits by force people to develop a kind of two joints, the machine fish of the foot section brought carriage, and each carriage is cemented on tail fin framework; A kind of multi-joint machine fish that the Xie Guangming team of Peking University develops, fish body is long and narrow, and afterbody does not have carriage, and fish-skin is made water pipe dress with rubber, keeps tail shape and adjusts buoyancy by inflation.
Making, the successful health that leans on---tail fin drives in the machine fish material object of (BCF), can in the time moving about, keep smooth curve, and thereby health can not affect buoyancy because hydraulic pressure is out of shape under water, all embody complicated machine design, or expensive processing technology, or advanced material, these all can improve time and the money cost of laboratory manufacturing machine fish, if the above requirement of out of reach, can limit to a certain extent the authenticity of the imitative fish of machine fish, constraint laboratory advances the reliability of research to imitative fish.
Summary of the invention
For existing above problem, the object of the invention is to use as far as possible physical construction and material simply cheaply, a kind of compact conformation is provided, can be for convenience detach, swing the machine fish with independent chain tail support and the method that snorkels thereof of form grace.
For achieving the above object, technical scheme of the present invention is as follows:
The machine fish with independent chain tail support comprises head, intermediate support plate, afterbody, pectoral fin, tail fin, described head comprises left head capsule, right head capsule, trapezoidal dividing plate, pectoral fin steering wheel bearing, pectoral fin steering wheel, plane double rocker mechanism, pectoral fin axle, pectoral fin axle strut member, battery, circuit card, described afterbody comprises chain tail support, fish-skin, the first joint, second joint, the 3rd joint, the first interlock dish, the second interlock dish, steering wheel connecting element, tail fin folder, described tail fin comprises tail fin sheet, tail fin plug-in unit, described pectoral fin comprises left pectoral fin sheet, right pectoral fin sheet, the one side of described intermediate support plate is provided with front annular boss, the another side of intermediate support plate is provided with rear annular boss, described left head capsule and right head capsule composition head shell, head shell is fixed on the outer ring surface of front annular boss, head shell inner hollow forms head cavity, trapezoidal dividing plate is located at head cavity middle part head cavity is divided into upper and lower two parts, trapezoidal dividing plate one end is fixed in the one side of intermediate support plate, trapezoidal dividing plate below is fixed with pectoral fin steering wheel bearing, on pectoral fin steering wheel bearing, be fixed with pectoral fin steering wheel, the output shaft of pectoral fin steering wheel is connected with the drive crank of plane double rocker mechanism, the driven rocking bar of plane double rocker mechanism is connected with pectoral fin axle, pectoral fin axle strut member is fixed in the one side of intermediate support plate, pectoral fin axle strut member is provided with axis hole, pectoral fin axle is through axis hole, pectoral fin axle two ends pass respectively left head capsule, right head capsule, pectoral fin axle left end is connected with left pectoral fin sheet, and right-hand member is connected with right pectoral fin sheet, on trapezoidal dividing plate, is fixed with battery, circuit card,
The first described joint, second joint, the 3rd joint includes a steering engine seat, a steering wheel, a U-shaped attaching parts, steering wheel is fixed on steering engine seat, one of U-shaped attaching parts is connected with steering wheel, the other end of U-shaped attaching parts is connected with steering engine seat, between the first joint and second joint, be provided with the first interlock dish, between second joint and the 3rd joint, be provided with the second interlock dish, the U-shaped attaching parts in the first joint, the steering engine seat of second joint is connected by the first interlock dish, the U-shaped attaching parts of second joint, the steering engine seat in the 3rd joint is connected by the second interlock dish, steering wheel connecting element is fixed on the another side of intermediate support plate, steering wheel connecting element is connected with the steering engine seat in the first joint, the U-shaped attaching parts in the 3rd joint is connected with tail fin folder, tail fin folder is connected with tail fin plug-in unit, tail fin sheet is inserted on tail fin plug-in unit,
Described chain tail support is by the first support ring, multiple midship mounting rings, and last support ring composition, the first support ring is fixed on the outer ring surface of rear annular boss of intermediate support plate, the end that last support ring is tail support, each support ring is hinged between two.
The first described support ring is provided with the laterally zygomorphic step surface stretching out towards a side of fish tail, step surface is provided with pin-and-hole; Each support ring in described midship mounting ring is provided with the laterally zygomorphic step surface stretching out towards a side of fish head, step surface is provided with bearing pin, is provided with the laterally zygomorphic step surface stretching out towards a side of fish tail, and step surface is provided with pin-and-hole; Described last support ring is provided with the laterally zygomorphic step surface stretching out towards a side of fish head, step surface is provided with bearing pin.
Described circuit card comprises microcontroller, communication module, memory module, microcontroller is connected with the steering wheel on the steering wheel on pectoral fin steering wheel, the first joint, the steering wheel on second joint, the 3rd joint respectively by PWM, microcontroller is connected by serial ports with communication module, realizes the communication with upper computer; Microcontroller is connected by SPI with memory module.
The material of described left head capsule, right head capsule is nylon.
Described the first support ring, midship mounting ring, the first interlock dish, the second interlock dish, last support ring are made by 3D printing technique, and material is PLA.
The material of described tail fin sheet, left pectoral fin sheet, right pectoral fin sheet is rubber.
The method of snorkeling with the machine fish of independent chain tail support is: microprocessor control pectoral fin steering wheel rotates, the output shaft of pectoral fin steering wheel drives the drive crank of plane double rocker mechanism, the passive rocking bar of plane double rocker mechanism drives pectoral fin axle to rotate, the rotation of pectoral fin axle changes the angle of attack of left pectoral fin sheet, right pectoral fin sheet, in the process of moving about, water is to left pectoral fin sheet, the direction of the antagonistic force of right pectoral fin sheet also can change, thereby realizes the floating dive of machine fish.
The beneficial effect that the present invention has is: machine fish good looking appearance exquisiteness of the present invention, vivid, can keep rational form when it moves about and turns; Application module structure of the present invention, is convenient to assembly and disassembly, and the replacing of parts; The present invention has independently chain tail support of one, is skillfully constructed, with low cost, can dismantle separately, and the form that can well keep machine fish to move about under water; Tail fin sheet difficult drop-off of the present invention, and be easy to dismounting, replaceable different tail fin sheet, is convenient to laboratory to having the move about research of efficiency of the machine fish of different tail fin shapes and tail fin hardness.
Accompanying drawing explanation
Fig. 1 is the contour structures schematic diagram with the machine fish of independent chain tail support;
Fig. 2 is the schematic diagram of assembling completely with the machine fish of independent chain tail support;
Fig. 3 is the head cavity inner structure schematic diagram with the machine fish of independent chain tail support;
Fig. 4 is the tail structure schematic diagram with the machine fish of independent chain tail support;
Fig. 5 is the formal figure with the independent chain tail support of the machine fish of independent chain tail support;
Fig. 6 is the birds-eye view with the independent chain tail support of the machine fish of independent chain tail support;
Fig. 7 is the structural representation with the independent chain tail support of the machine fish of independent chain tail support;
Fig. 8 is the front elevation with the intermediate support plate of the machine fish of independent chain tail support;
Fig. 9 is the lateral plan with the intermediate support plate of the machine fish of independent chain tail support;
Figure 10 is the first supporting ring structure schematic diagram with the machine fish of independent chain tail support;
Figure 11 is the midship mounting ring structure schematic diagram with the machine fish of independent chain tail support;
Figure 12 is the last supporting ring structure schematic diagram with the machine fish of independent chain tail support;
In figure, intermediate support plate 1, left head capsule 2, right head capsule 3, trapezoidal dividing plate 4, pectoral fin steering wheel bearing 5, pectoral fin steering wheel 6, plane double rocker mechanism 7, pectoral fin axle 8, pectoral fin axle strut member 9, midship mounting ring 10, last support ring 11, fish-skin 12, the first interlock dishes 13, the second interlock dish 14, steering wheel connecting element 15, tail fin folder 16, tail fin sheet 17, tail fin plug-in unit 18, left pectoral fin sheet 19, right pectoral fin sheet 20, steering engine seat 21, steering wheel 22, U-shaped attaching parts 23, the first support rings 24, battery 25, circuit card 26.
The specific embodiment
Below in conjunction with embodiment, the present invention is further described:
As shown in Figures 1 to 12, there is the machine fish of the independent tail support of good conformability, comprise head, intermediate support plate 1, afterbody, pectoral fin, tail fin, described head comprises left head capsule 2, right head capsule 3, trapezoidal dividing plate 4, pectoral fin steering wheel bearing 5, pectoral fin steering wheel 6, plane double rocker mechanism 7, pectoral fin axle 8, pectoral fin axle strut member 9, battery 25, circuit card 26, described afterbody comprises ring-type tail support, fish-skin 12, the first joint, second joint, the 3rd joint, the first interlock dish 13, the second interlock dish 14, steering wheel connecting element 15, tail fin folder 16, described tail fin comprises tail fin sheet 17, tail fin plug-in unit 18, described pectoral fin comprises left pectoral fin sheet 19, right pectoral fin sheet 20, the one side of described intermediate support plate 1 is provided with front annular boss, and the another side of intermediate support plate 1 is provided with rear annular boss, front, on the anchor ring of rear annular boss, be equipped with seal groove, described left head capsule 2 and the outside edge of right head capsule 3 are respectively equipped with counterbore, left head capsule 2, right head capsule 3 is compressed and is formed head shell by 10 screws and pad, be arranged on the outer ring surface of front annular boss, seal with O type circle, head shell inner hollow forms head cavity, trapezoidal dividing plate 4 is located at head cavity middle part head cavity is divided into upper and lower two parts, trapezoidal dividing plate 4 one end are fixed in the one side of intermediate support plate 1 by 4 screws, pectoral fin steering wheel bearing 5 is fixed on trapezoidal dividing plate 4 belows by 2 screws, pectoral fin steering wheel 6 is fixed on pectoral fin steering wheel bearing 5 by 2 screws, the output shaft of pectoral fin steering wheel 6 inserts in the toothed opening of drive crank of plane double rocker mechanism 7, one place of pectoral fin axle 8 has radial hole, the driven rocking bar end of plane double rocker mechanism 7 has axial hole, driven rocking bar is by fixing along pectoral fin axle 8 screw and pectoral fin axle 8 radially, pectoral fin axle strut member 9 is fixed on by screw in the one side of intermediate support plate 1, left head capsule 2, the both sides of right head capsule 3 are respectively provided with bearing hole, and bearing is housed on bearing hole, and pectoral fin axle is through the axis hole of pectoral fin axle strut member 9, and both sides pass respectively left head capsule 2, right head capsule 3, by roller bearing end cap, O type circle, grease seal, left pectoral fin sheet 19, right pectoral fin sheet 20 is enclosed within the two ends of pectoral fin axle 8, and battery 25 is fixed on trapezoidal dividing plate 4 by adhesive tape, and circuit card 26 is propped up and stayed at battery 25 tops by four plastic columns, and plastic column is fixed by screws on trapezoidal dividing plate 4,
The first described joint, second joint, the 3rd joint includes a steering engine seat 21, a steering wheel 22, a U-shaped attaching parts 23, steering wheel 22 is fixed on steering engine seat 21, one of U-shaped attaching parts 23 is passed through steering wheel, screw, be connected with steering wheel 22 output shafts, steering wheel 22 output shafts are the active rotating shaft of U-shaped attaching parts 23, the other end of U-shaped attaching parts 23 has through hole, the bolt portion more smaller than through-hole diameter is screwed into steering engine seat 21, this screw is the passive rotating shaft of U-shaped attaching parts 23, between the first joint and second joint, be provided with the first interlock dish 13, between second joint and the 3rd joint, be provided with the second interlock dish 14, the U-shaped attaching parts in the first joint, the first interlock dish 13, the steering engine seat of second joint is connected by screw, the U-shaped attaching parts of second joint, the second interlock dish 14, the steering engine seat in the 3rd joint is connected by screw, steering wheel connecting element 15 is fixed on by screw on the another side of intermediate support plate 1, the steering engine seat in the first joint is fixed on steering wheel connecting element 15 by screw, compress protection by adhesive tape, the U-shaped attaching parts in the 3rd joint is connected by screw with tail fin folder 16, tail fin folder 16 is connected by screw with tail fin plug-in unit 18, tail fin sheet 17 is provided with jack, tail fin sheet 17 is inserted on tail fin plug-in unit 18,
The first described support ring 24 is provided with the laterally zygomorphic step surface stretching out towards a side of fish tail, step surface is provided with pin-and-hole; Each support ring in described midship mounting ring 10 is provided with the laterally zygomorphic step surface stretching out towards a side of fish head, step surface is provided with bearing pin, is provided with the laterally zygomorphic step surface stretching out towards a side of fish tail, and step surface is provided with pin-and-hole; Described last support ring 11 is provided with the laterally zygomorphic step surface stretching out towards a side of fish head, step surface is provided with bearing pin.
Described circuit card comprises microcontroller, communication module, memory module, microcontroller is connected with the steering wheel on the steering wheel on pectoral fin steering wheel, the first joint, the steering wheel on second joint, the 3rd joint respectively by PWM, microcontroller is connected by serial ports with communication module, realizes the communication with upper computer; Microcontroller is connected by SPI with memory module, preserves the necessary data of experimentation, and battery is circuit card power supply; Microcontroller uses 16 micro controller system MC9S12XS128 of Freescale, and communication module is made up of radio frequency chip NRF2401, and memory module is used Flash chip AT45DB321D.Pectoral fin steering wheel, steering wheel use Futaba steering wheel S9402 or S3102.
Described left head capsule 2, the material of right head capsule 3 can be nylon.
Described the first support ring, midship mounting ring, the first interlock dish 13, the second interlock dish 14, last support ring 11 are made by 3D printing technique, and material is PLA.
The material of described tail fin sheet 17, left pectoral fin sheet 19, right pectoral fin sheet 20 is rubber.
The method of snorkeling that the present invention has the machine fish of independent chain tail support is: microprocessor control pectoral fin steering wheel 6 rotates, the output shaft of pectoral fin steering wheel 6 drives the drive crank of plane double rocker mechanism 7, the passive rocking bar of plane double rocker mechanism 7 drives pectoral fin axle 8 to rotate, the rotation of pectoral fin axle 8 changes the angle of attack of left pectoral fin sheet 19, right pectoral fin sheet 20, in the process of moving about, the direction of the antagonistic force of water to left pectoral fin sheet 19, right pectoral fin sheet 20 also can change, thereby realizes the floating dive of machine fish.
The method of moving about that the present invention has the machine fish of independent chain tail support is: the steering wheel that microcontroller is controlled respectively three joints rotates, and by the curve of fish tail swing being become to the bulk wave curve of fish swimming in theory, realizes advancing of fish and moves about;
The turning method that the present invention has the machine fish of independent chain tail support is: on the basis of moving about forward at machine fish, add suitable offset angle to steering wheel, the symmetric line of fish tail swing curve is offset left, realize machine fish turnon left, the symmetric line of fish tail swing curve is offset to the right, realizes machine fish right-hand corner.
Claims (7)
1. there is a machine fish for independent chain tail support, it is characterized in that comprising head, intermediate support plate (1), afterbody, pectoral fin, tail fin, described head comprises left head capsule (2), right head capsule (3), trapezoidal dividing plate (4), pectoral fin steering wheel bearing (5), pectoral fin steering wheel (6), plane double rocker mechanism (7), pectoral fin axle (8), pectoral fin axle strut member (9), battery (25), circuit card (26), described afterbody comprises chain tail support, fish-skin (12), the first joint, second joint, the 3rd joint, the first interlock dish (13), the second interlock dish (14), steering wheel connecting element (15), tail fin folder (16), described tail fin comprises tail fin sheet (17), tail fin plug-in unit (18), described pectoral fin comprises left pectoral fin sheet (19), right pectoral fin sheet (20), the one side of described intermediate support plate (1) is provided with front annular boss, the another side of intermediate support plate (1) is provided with rear annular boss, described left head capsule (2) and right head capsule (3) composition head shell, head shell is fixed on the outer ring surface of front annular boss, head shell inner hollow forms head cavity, trapezoidal dividing plate (4) is located at head cavity middle part head cavity is divided into upper and lower two parts, trapezoidal dividing plate (4) one end is fixed in the one side of intermediate support plate (1), trapezoidal dividing plate (4) below is fixed with pectoral fin steering wheel bearing (5), on pectoral fin steering wheel bearing (5), be fixed with pectoral fin steering wheel (6), the output shaft of pectoral fin steering wheel (6) is connected with the drive crank of plane double rocker mechanism (7), the driven rocking bar of plane double rocker mechanism (7) is connected with pectoral fin axle (8), pectoral fin axle strut member (9) is fixed in the one side of intermediate support plate (1), pectoral fin axle strut member (9) is provided with axis hole, pectoral fin axle (8) is through axis hole, pectoral fin axle (8) two ends pass respectively left head capsule (2), right head capsule (3), pectoral fin axle (8) left end is connected with left pectoral fin sheet (19), and right-hand member is connected with right pectoral fin sheet (20), is fixed with battery (25) on trapezoidal dividing plate (4), circuit card (26),
The first described joint, second joint, the 3rd joint includes a steering engine seat (21), a steering wheel (22), a U-shaped attaching parts (23), steering wheel (22) is fixed on steering engine seat (21), one of U-shaped attaching parts (23) is connected with steering wheel (22), the other end of U-shaped attaching parts (23) is connected with steering engine seat (21), between the first joint and second joint, be provided with the first interlock dish (13), between second joint and the 3rd joint, be provided with the second interlock dish (14), the U-shaped attaching parts in the first joint, the steering engine seat of second joint is connected by the first interlock dish (13), the U-shaped attaching parts of second joint, the steering engine seat in the 3rd joint is connected by the second interlock dish (14), steering wheel connecting element (15) is fixed on the another side of intermediate support plate (1), steering wheel connecting element (15) is connected with the steering engine seat in the first joint, the U-shaped attaching parts in the 3rd joint is connected with tail fin folder (16), tail fin folder (16) is connected with tail fin plug-in unit (18), tail fin sheet (17) is inserted on tail fin plug-in unit (18),
Described chain tail support is by the first support ring (24), multiple midship mounting rings (10), last support ring (11) composition, the first support ring (24) is fixed on the outer ring surface of rear annular boss of intermediate support plate (1), the end that last support ring (11) is tail support, each support ring is hinged between two.
2. the machine fish with independent chain tail support according to claim 1, is characterized in that described the first support ring (24) is provided with the laterally zygomorphic step surface stretching out towards a side of fish tail, and step surface is provided with pin-and-hole; Each support ring in described midship mounting ring (10) is provided with the laterally zygomorphic step surface stretching out towards a side of fish head, step surface is provided with bearing pin, is provided with the laterally zygomorphic step surface stretching out towards a side of fish tail, and step surface is provided with pin-and-hole; Described last support ring (11) is provided with the laterally zygomorphic step surface stretching out towards a side of fish head, step surface is provided with bearing pin.
3. the machine fish with independent chain tail support according to claim 1, it is characterized in that described circuit card (26) comprises microcontroller, communication module, memory module, microcontroller is connected with the steering wheel on the steering wheel on pectoral fin steering wheel (6), the first joint, the steering wheel on second joint, the 3rd joint respectively by PWM, microcontroller is connected by serial ports with communication module, realizes the communication with upper computer; Microcontroller is connected by SPI with memory module.
4. the machine fish with independent chain tail support according to claim 1, is characterized in that described left head capsule (2), the material of right head capsule (3) are nylon.
5. the machine fish with independent chain tail support according to claim 1, the first support ring (24) described in it is characterized in that, midship mounting ring (10), the first interlock dish (13), the second interlock dish (14), last support ring (11) are made by 3D printing technique, and material is PLA.
6. the machine fish with independent chain tail support according to claim 1, is characterized in that the material of described tail fin sheet (17), left pectoral fin sheet (19), right pectoral fin sheet (20) is rubber.
7. the method that snorkels of a machine fish as claimed in claim 1, it is characterized in that: microprocessor control pectoral fin steering wheel (6) rotates, the output shaft of pectoral fin steering wheel (6) drives the drive crank of plane double rocker mechanism (7), the passive rocking bar of plane double rocker mechanism (7) drives pectoral fin axle (8) to rotate, the rotation of pectoral fin axle (8) changes the angle of attack of left pectoral fin sheet (19), right pectoral fin sheet (20), in the process of moving about, water is to left pectoral fin sheet (19), the direction of the antagonistic force of right pectoral fin sheet (20) also can change, thereby realizes the floating dive of machine fish.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410088557.5A CN103879535B (en) | 2014-03-12 | 2014-03-12 | There is the machine fish of independent chain tail support and the method that snorkels thereof |
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| CN201410088557.5A CN103879535B (en) | 2014-03-12 | 2014-03-12 | There is the machine fish of independent chain tail support and the method that snorkels thereof |
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| CN103879535B CN103879535B (en) | 2016-04-06 |
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| CN106081034A (en) * | 2016-06-28 | 2016-11-09 | 河北工业大学 | A kind of bionic machine fish afterbody actuating device |
| CN106828848A (en) * | 2017-02-06 | 2017-06-13 | 厦门大学 | A kind of skeleton many strings affect underwater fish |
| CN105059511B (en) * | 2015-07-28 | 2018-02-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of underwater highly emulated device fish |
| CN109050851A (en) * | 2018-08-22 | 2018-12-21 | 重庆三峡学院 | Line drive-type machine fish |
| CN112693570A (en) * | 2021-01-08 | 2021-04-23 | 河海大学 | Water surface garbage cleaning robot fish based on motion of auxiliary tail fin of pectoral fin |
| CN113636048A (en) * | 2021-08-19 | 2021-11-12 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105059511B (en) * | 2015-07-28 | 2018-02-23 | 中国科学院自动化研究所（洛阳）机器人与智能装备创新研究院 | A kind of underwater highly emulated device fish |
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| CN113636048A (en) * | 2021-08-19 | 2021-11-12 | 武汉工程大学 | Multi-joint robot fish and motion control method thereof |
| CN114771785A (en) * | 2022-04-30 | 2022-07-22 | 深圳大学 | Underwater bionic fish |
| CN114771785B (en) * | 2022-04-30 | 2024-02-27 | 深圳大学 | Underwater bionic fish |
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