Abstract
In order to study the mechanism of the tail swing of the bionic dolphin, a flexible tail experimental device based on a steering engine was developed. This study was focused on the common three joint steering gear and its use in a bionic dolphin tail swing mechanism, and it was found that the bionic dolphin driven by the steering gear had the problem of excessive stiffness. In order to solve this problem, we designed a bionic dolphin tail swing mechanism. The tail swing mechanism was designed rationally through the combination of a steering gear drive and two flexible spines. Analysis of kinematic and dynamic modeling was further completed. Through simulation using, the research on the bionic dolphin tail swing mechanism was verified. Experiments showed that the swing curve formed by the steering gear-driven bionic dolphin tail swing mechanism with two flexible spines fit the real fish body wave curve better than the original bionic dolphin tail swing mechanism.
Highlights
In order to study the mechanism of the tail swing of the bionic dolphin, a flexible tail experimental device based on a steering engine was developed
When six driven joints are added on the basis of the three active joints, the tail swing curve of the bionic dolphin in Figure 4c is very close to the body wave curve of the real dolphin
This article mainly studied a mechanism of the tail swing of a bionic dolphin with a steering gear drive and two flexible spines
Summary
This section is divided into two parts. The tail swing mechanism uses three swing steering gears to drive three active joints, with each pair of active joints containing two driven joints, and two polyurethane rods are used to connect each joint in series. A symmetrical crescent shaped caudal fin is adopted in the structure design of the bionic dolphin caudal fin
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