PECTORAL FIN DEVICE OF AN UNDERWATER ROBOT WHICH USES FISH SWIMMING METHOD CONTROLLING A LIFT FORCE BY A FIN PLATE AND THE FORWARD-BACKWARD MOVEMENT OF AN UNDERWATER ROBOT

摘要

PURPOSE: A pectoral fin device of an underwater robot which uses fish swimming method is provided to control a direction of an underwater robot which uses fish swimming method because the 2D rotational movement of an actuator is changed into the 3D rotational movement by a plurality links.;CONSTITUTION: A pectoral fin device of an underwater robot which uses fish swimming method comprises a control module(100) and two driving modules(200). The control module controls the forward-backward movement, a direction change, rising movement, and the submergence of an under water robot. The two driving modules are respectively comprised in both sides of the robot. The driving module converts the rotation of an actuator(210) into the movement of a fin plate(260) so that a lift force and propulsion are generated in the fin plate. The two driving module comprises actuators respectively constituting a four-bar link, an input shaft(220), a third link(230), a fixing link(24), and a sphere joint(250), and a fin plate.;COPYRIGHT KIPO 2012