The Design And Development Of A Submerged Robotic Fish Can Be Used

With the development of bionics, mechanics, informatics and other subjects, robot fish gradually protrudes its important research and application values for its advantages over other traditional underwater robots. In this dissertation, starting from the swimming mechanism of Carangiform mode fish with the reference to widely present robot fish systems, we develops a three joints robot fish which can up and down, studies on the biomimetic swimming, structure design, wireless communication and other technologies. The outlines as followed:Firstly, by analyzing the Carangiform propulsion mode, propulsive mechanism and kinematics model were created. The kinematics analysis and dynamics analysis have been completed by MATLAB, the correctness of dynamics model was proved by simulation and test. Then the influence of oscillation frequency, phase lag and amplitude to its ahead speed were found out by simulation.Secondly, in terms of the swimming mechanism of Carangiform mode fish, the dimensions of three joint were optimized by the penalty function method. Then, the up and down mechanism changing the center of gravity was designed. After analyzing the theory of up and down movement, the three-dimensional model was created in SolidWorks. The half-ellipse and parabola streamline outlines was decided as robot fish body part in two-dimensional flow field using ANSYS Fluent. Then, the body part analysis is done at the condition of three-dimensional flow field, the influence of underwater resistance by the changing of maximum cross-section is studied through simulation and structural optimization. In addition, the body part was developed using MEM process.Then, in terms of the requirement of movement, a embedded system based on AVR microcontrollers was implemented. Swimming control software was designed and complied using ICCAVR, simultaneously the wireless communication of robot fish was realized. The results of experiment about PWM and communication shows that entire program and data transmission is reliable and feasible.Finally, we developed a robot fish prototype for experiment and carried on contrast experiments under different control parameters. The results indicated that robot fish system runs effectively and stably, provides a reference for further research in the filed of robot fish.