Actively controlled curvature robotic pectoral fin

US9120546B1 · kind B1 · utility

Assignee

• United States of America as represented by the Secretary of the Air Force · US

Inventors

• Jason D. Geder · Arlington, US
• John S. Palmisano · Silver Spring, US
• Marius D. Pruessner · Silver Spring, US
• Ravi Ramamurti · Silver Spring, US

Key dates

• Filing date: May 13, 2015
• Grant date: Sep 1, 2015
• Expiry date: May 13, 2035

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/01
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A robotic mechanical fin, having a motor housing containing a plurality of rib rotation motors, rib spars, and a plurality of ribs, mechanically movable and communicatively coupled to the plurality of rib rotation motors and shafts, where the plurality of ribs are rotationally coupled to and actuated by the plurality of rib rotation motors and shafts. The mechanical fin further includes a flexible fin casing, within which the ribs reside, forming the complete actively controlled curvature robotic propulsion and steering apparatus. The mechanical fin is connected to a plurality of control electronics circuits and a computer processor programmed with actuation code that when executed by the computer processor causes automated actuation of simultaneous propulsion and steering maneuverability of the actively controlled curvature, robotic, mechanical fin.