The flapping bionic robot fish is an underwater vehicle researched under the support of the National 863 Project. It simulates the pectoral fish-bovine scorpion's pectoral fin flapping propulsion method, and is propelled by a pair of wide flexible pectoral fins. Since 2007, the Institute of Robotics of Beijing University of Aeronautics and Astronautics has been working on the research of bionic flapping robots . So far, robotic prototypes BHRay-I, BHRay-II, BHRay-III and BHRay-IV have been developed. Develop the fifth generation prototype.
The BHRay-I robot has a total length of 0.5m, a span width of 0.6m and a displacement of 3.4kg. The flexible pectoral fin is made of silicone rubber and is driven by a motor through two sets of crank rocker mechanisms. The speed can reach 1.4 times the body length per second. Due to the single-motor drive, the motion parameters (frequency and amplitude) of the pectoral fins on both sides cannot be adjusted separately, so the second-generation robotic fish prototype BHRay-II was designed.
The BHRay-II machine fish is made of FRP material, the flexible pectoral fin is still silicone rubber, the total length of the robot fish is 0.65m, the span width is 0.9m, the displacement is 7.0kg, and the pectoral fins on both sides are directly connected to the motor output shaft, compared to BHRay-I. The driving efficiency is improved and independent control is achieved, and the maximum speed can be up to 1.2 times the body length per second.
In order to further imitate the bovine snot, BHRay-III is designed according to the body proportion of the bovine snot. The body propulsion is further improved by the body bionics, and the gyroscope and accelerometer are added to realize the autonomous navigation function. The wingspan is 620mm and the length is 400mm. The maximum speed is 1.5 times the body length per second.
The above three generations of prototypes are used for heading and attitude control through the tail rudder, which can flexibly turn, rise and dive. The minimum turning radius is doubled, the maximum depth is 3 meters, and the cruise time is more than half an hour.
BHRay-IV will focus on exploring the design and application of integrated, fully flexible bodies and flexible propulsion mechanisms. An all-flexible body constructed of silicone rubber and pneumatic artificial muscles as the main driving force source. The prototype has a wingspan of 550mm, a length of 330mm and a displacement of 3.8Kg. The guide rail linear motion speed measurement, its linear swimming speed is 0.18~0.22m/s.
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