Research Of Design And Control A Biomimetic Fish

With the progress of industry, the demand for various resources of human beings is increasing day by day. The resources on the land have been unable to meet the people's needs gradually, and the detection and development of the ocean is becoming more and more important. Since the mid-20th century, the robot technology has been quickly rising as a new technology. Bionic robot fish has been a hot issue for a long time in the field of robot research. The bionic robot fish plays an important role in marine resources' development because of its high energy efficiency,high speed, strong maneuverability, low noise and little disturbance to the environment.It is investigated the dynamics and kinematics of the carcass fishes,and established the dynamics equations in this paper. It is also analyzed the fish - body curve, the CPG control algorithm and the mechanical design in this paper. It is designed a tandem propulsion system about three joints robot fish. Besides ensure the basis of guaranteeing the stability of the movement, the photoelectric sensor module is arranged on the robot fish body, and the infrared rays reflected by the fish are processed to realize the dynamic positioning of the fish body in the water area, so that the robot can complete the obstacle avoidance by the predetermined algorithm.Biomimetic robot fish is a multidisciplinary research topic, including fish mechanical design, electronic circuits, control theory, sensor technology, wireless communication technology and many other aspects.It is designed a mechanical structure of a three-joint robot, using the CPG control algorithm as a control algorithm of the robot fish. The hardware structure and software system were designed based on STM32 single chip microcomputer.