Amphibious Robot Fish Design And Complex Special-Shaped Pieces Of Processing

This paper put forward to improve the sealing effect of the fish robot structure design and Simulate the robot fish pectoral oscillation hydrodynamic phenomenon by CAE method, to further the machine fish underwater foundation.,aiming at the amphibious robot fish body static seal and pectoral change attack angle on the up and down movement of the impact of research.This paper presents a new type of autonomous robotic fish with imitate Carangidae fish swimming underwater and wheeled to promote on the land. The robotic fish can sample images through its eye and recognize the meaningful color patch via a series of vision algorithms. More specifically, an ARM9-centered microcontroller in conjunction with a CMOS camera for image acquisition is developed to effectively handle local visual information serving as the basis of underwater navigation. Meanwhile, a wireless interactive control console is devised, facilitating two-way information transfer. It can access the environmental information captured by the robotic fish in real time. Rely on these information, amphibious machine for the corresponding decision realize fish underwater cruise or land to crawl. The robotic fish developed in this paper has three characteristics:First, the robotic fish is design by many modular. It includes the rigid head and modular tail, head to install a symmetrical vice wheel propeller fin structure used to realize the potential rise and walk land movement, including two of the modular joint trunk and tail handle composite driving mechanism, interchangeable; The tail has four degrees of freedom, increased its flexibility.Next, the robotic fish can adapt to both water and land kind of environment. It has three joint tail, a round of propeller fin and a tail training wheels. Through the help of each control joint with, this machine fish can not only in the water simulation copy, swimming (fish, also can be in sand, the ground, swamp road conditions such as on or winding goes to crawl.Lastly, the robotic fish his own design through power dynamic seals unit output, this device not only with good sealing effect, and simple structure, saving space, ensure the machine more light fish has the characteristics of more flexible.This paper studies mainly include the following contents:(1) Establish machine fish forward kinematics mathematical model. Application of D-H coordinates derived by machine fish in planar motion while moving pose matrix equation of motion, with the help of MATLAB software to solve the matrix, emphatically discusses the robot kinematics is established for the problem, to lay the foundation for three-dimensional motion mathematical model.(2) Simulate the liters dive motion hydrodynamic phenomenon of robot fish. Through fluent simulation software to simulate the pectoral oscillation, analysis of robot fish do up and down movement of the optimum angle of attack, and through cloud explains its hydrodynamic phenomenon. (3) Design box sealing structure. Based on the O shaped rubber ring seal design principle analysis, design a suitable for machine fish body static sealing structure, for the next phase of improved sealing effect to lay the foundation for robotic fish.(4)Design the sleeve shaft structure. To save space concept design collar shaft structure realize two rotating shaft of one output; By constructing the two sealing ring and fill them with butter layer, and realize the dynamic seals, success in solving the machine work underwater fish motive power output of difficult problems.