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公开(公告)号：US20210354800A1
公开(公告)日：2021-11-18
申请号：US17279099
申请日：2020-04-16
Inventor： Junzhi YU , Zhengxing WU , Di CHEN , Min TAN
Abstract: A water-air amphibious cross-medium bio-robotic flying fish includes a body, pitching pectoral fins, variable-structure pectoral fins, a caudal propulsion module, a sensor module and a controller. The caudal propulsion module is controlled to achieve underwater fish-like body-caudal fin (BCF) propulsion, and the variable-structure pectoral fins is adjusted to achieve air gliding and fast splash-down diving motions of the bio-robotic flying fish. The coordination between the caudal propulsion module and the pitching pectoral fins is controlled to achieve the motion of leaping out of water during water-air cross-medium transition. The ambient environment is detected by the sensor module, and the motion mode of the bio-robotic flying fish is controlled by the controller.
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公开(公告)号：US20210309332A1
公开(公告)日：2021-10-07
申请号：US17278335
申请日：2020-04-16
Inventor： Zhengxing WU , Junzhi YU , Yan MENG , Xingyu CHEN , Jian WANG , Min TAN
Abstract: A biomimetic robotic manta ray includes a head cabin, a central cabin, a pair of pectoral fins and a caudal fin cabin. The pectoral fin includes a crank-rocker mechanism and a bevel gear mechanism. The biomimetic robotic manta ray achieves undulatory propulsion through a coordinated periodic motion of the crank-rocker mechanism. A complex closed motion trail of the tail end of the pectoral fin of the manta ray is traced through the coordination of the bevel gear mechanism and the crank-rocker mechanism. The biomimetic robotic manta ray achieves a combined motion of two vertical undulations superimposed on the pectoral fin of a natural manta ray. The motion trail, which has an important effect on the efficient motion of the manta ray, of the tail end of the pectoral fin is approximately simulated.
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