Research And Design Of Robot Fish Tail Fin Propulsion System

In recent years, the study about robot fish becomes a hot spot studying in bionic scientific research field. The development of robot fish is based on the fish swimming in the high-speed, high-efficiency, good-mobility, low-noise characteristics, such as. Their research is of great realistic significance and value of direct application. Robot fish's research involves many different areas, such as mathematics,water-dynamics,bionics,artificial-intelligence,control-theory,materials,computer,mechanics,communications,sensor technology, etc.. In this paper, the research present situation of robot fish were reviewed research and analysis, but also study the robot fish's biological model movement and technology realizes.This article takes the carangiform mode fish as biological model object of study, through analysis and research the hovers mechanism to the carangiform mode fish, has designed a Double-hinged caudal fin propulsion system to three degree-of-freedom robot fish. It also has established the parametrization mathematical model for Double-hinged caudal fin movement, and has carried on the kinematics and dynamics analysis to the advancement process, theoretical calculation the propelling power of the Double-hinged caudal fin propulsion system.In view of physical model which designs with the Double-hinged caudal fin propulsion system of carangiform mode fish, we use the servo motor-driven the way, design a set of servo-control system, including movement controller, joint servo electrical machinery's servo-control unit, joint servo electrical machinery and encoder. etc.. This paper builts the whole propulsion system's hardware control platform. Under the software environment of movement controller, based on the VB language, establishments software routine of the control system, complete the entire caudal fin propulsion system's design.Under Matlab simulation environment, we carried on the simulation testing to the joint movement model which has established, through analysis and computation the simulation result. Theoretically, this paper establishes the basic parameter of Double-jointed caudal fin propulsion system.