Mechanism Design and Kineto-Static Analysis of a Flexible Linkage for Robotic Fish Propulsion
In response to the existing issues of complex structure,rigid motion,insufficient flexibility and low efficiency in underwater biomimetic propulsion mechanisms,this paper proposes a novel fish tail structure.It simulates the body wave curve of a fish tail through the continuous deformation of elastic plates and generates reciprocating tail movement through differential driving.The configuration consists of two variable cross-section elastic plates and a rigid tail fin platform,producing large-scale deformation through bilateral linear driving,resulting in motion resembling that of a real fish caudal fin at the end of the mechanism.A motion-static model is established for this design to simulate and calculate the posture and driving force of the tail under different driving inputs.A coordinated continuous deformation model,established using the principal-axis decomposition method,transforms the problem of significant deformation in elastic beams into a statics problem of tandem mechanism.Subsequently,the gradient iteration method is applied for rapid and accurate solutions to the motion-static model.The analytical model provides a basis for the motion control of continuous deformation flexible fish tails,and experimental validation confirms the feasibility of this configuration.
bionic fishunderwater propulsionflexible mechanismthe principal axes decomposition
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