The Design Of Multiple Bionic Robot Fishes System Based On IPMC Actuator

Biomimetic robot fish, as a novel underwater robot, can play an important role in many applications. This thesis focuses on the design of the multiple biomimetic robot fish propelled by IPMC (Ion-exchange polymer-metal composites) caudal fins. Research is carried out on the following respects.Firstly, a physical model is build based on analysis of the fish propulsive modes and kinematics and dynamics of the robotic fish in hydro environment, then a shape and movement biomimetic robot fish body structure is developed based on main design ideology.Secondly, the thesis makes an analysis of the traditional artificial potential field model and the main issues, an aide repulsive force ring method is proposed to improve artificial potential field algorithm to solve the problem of the main issues. Compared to the single fish robot system? an priority avoiding strategy and the improved potential field function method is presented to avoid collision for multiple robot fishes. Afterwards, we carry out a simulation to test the method and prove its validity.Thirdly, the multiple biomimetic robot fishes star wireless sensor networks are designed based on ZigBee technology, and the system uses the CC2430as hardware solutions for wireless network nodes, then a wireless communication module, IPMC driver module, power module and sensor module are designed.After completion the design of the hardware, software programming design is carried out, such as master control node, controlled node and remote node.Finally, through the experiment, the performance of the multiple-robot fish is tested, including:the speed of robot fish swimming, the networking performance of wireless sensor networks for multi-robot fish.