Underwater Bio-Robot's Motion Analysis And Animation

Fish and Ocean mammal have excellent Propulsion and maneuvering system, whose excellences are good efficiency and low yawp. Using bionics theory, it is a research hotspot that people develop new bionic intelligent system of AUV by animating dolphin or tuna.This paper is based on the "fangsheng -I "robot fish of Harbin Engineering University AUV State Key Lab, uses the panel method's calculatting the robot fish's hydrodynamic results, and analyzes the motion of robot fish in horizontal and vertical plane, then set up the motion model of robot fish. Finally, by using 3D technology of computer graphics and AxDf method, the paper animate the robot fish's three typical motion types: forward, turning and ascending.Based on the robot fish's experiment and motion animation's results, this paper also discusses the animation experiment's error, and analyze the cause; Animation results are consistent with the robot fish's motion. All of above are practicable for the future research on robot fish.