Research On Kinematics & Dynamics Analysis And Control System For A Robofish

The robofish adopts propulsion method of real fish, which has characteristic of high speed, high efficiency, excellent maneuvering performance, low noise etc. Its research contents have important practical significance and direct military value. This dissertation carried on the analysis and the summary to the present research literature of robofish, mainly studied the robofish's bionic motions and its realization technologies.This paper takes the small fish of Carangiform as the mimetic object. Through the bionics study to the principle of Carangiform's propulsion, the robofish's main body mechanism that has two degrees of freedom tail fin and single degree of freedom pectoral fin has designed. At the same time, the parameterized mathematical model of double-hinged propulsion system has established. The kinematics analysis, dynamics analysis to the propulsion process and preliminary hydrodynamics analysis to the tail fin and the pectoral fin have been completed. The dynamic equations to the propulsion system have been established.According to the robofish's motions, the author has designed hardware of robofish's control system based on the AVR microcontroller, including the joint servomotors drive circuit, the serial communication circuit, the A/D converting circuit, the data acquired from moment sensor differential amplify circuit, the remote control circuit for transmitting and receiving, etc, established the entire platform for controlling propulsion system and debugged the hardware circuit of control system. Meanwhile, the basic algorithm and software for motions controlhas been developed according to the control strategy based on C language. The lower-layer motions control software has been compiled and debugged.Finally, the paper has established the robofish experiment system, carried on the drive performance testing experiment to robofish's joint and the flapping propulsion experiment, confirmed the feasibility of the design, carried on the contrast experiment and analysis the control performance when the robofish under different motion state.