Biomimetic Robotic Fish Mechanism Design And Mechanics Analysis

The development of underwater resources is becoming the focus of many scientific research projects. Bionic robotic fish in this paper is based on the type of fish as the prototype of Carangidae. This type of bionic robotic fish has better propulsive efficiency, better promote the speed, good controllability and other advantages. Through the analysis of its swimming mechanism, four bionic robotic fish is designed. Parameters of four joint bionic robotic fish fin motion mathematical model is established, and to promote the process of dynamics and kinematics analysis. Focusing on the four-joint robotic fish and based on the fish body wave motion curve equation, we deduced a mathematical model for four joint rotation of robotic fish. By setting two different parameters of amplitude coefficient and polarization coefficient, using simulation software MATLAB, we obtained different motion curves and therefore provide theoretical basis for dynamics modeling of four-joint robotic fish.The bionic robotic fish realized a kind of interactive feedback through two methods of the use of the Lagrange method for kinematic modeling and the simulation through Fluent software. These two methods support the user in understanding the hydrodynamic performance of the robotic fish, and can be observed more deeply than other common water power analysis. Human can observe the force and field distribution of the robotic fish, and can measure the influence of the hydrodynamic parameters.The main contribution of this thesis is to define the motion function of robotic fish by Fluent software. It succeeds in dynamic simulation of fluid dynamics. Dynamic meshes are used to simulate the movement of a robotic fish in the underwater motion. The comparison of the hydrodynamic analysis with the hydrodynamic analysis has been accomplished to improve the ability of controlling the fish of the bionic robotic.