The Development And Experimental Study Of Robot Dolphin Capable Of Leaping

With the development of society,demand for resources is bigger and bigger.However,land resources are limited.Countries turn attention to the ocean.The traditional underwater vehicle has the disadvantages of large volume,large noise and high energy consumption.Fish have high propulsion efficiency.Countries have begun to develop robot fish.But at present,the robot fish is mostly confined to underwater.In order to study the mechanism of leaping,Structural design and experimental research of robot dolphin are made.First,the current research status of robot fish and robot dolphin at home and abroad is introduced,and then swimming patterns of fish and dolphin is analyzed.A conclusion is drawn that the swimming pattern of dolphin is similar to Carangiform.Then the dynamics of dolphin is analyzed.The relationship between the motion state and the force of dolphin is obtained,which lays a foundation for the selection of driving motor and the design of the control algorithm.Secondly,according to the principle of modular design,the structure of robot dolphin is designed including head,pitch,body,tail and caudal fin.After comparing and analyzing the existing robot dolphins,a new type of electric amplitude modulation with double joint driving mechanism is designed.Finally,based on the establishment of a three-dimensional model,the machining of the robot dolphin is completed.Thirdly,software and hardware platform of the dolphin control system is made.The system is designed from four modules including decision,communication,execution and perception.The design of control system provides a guarantee for the experimental research of robot dolphin.In addition,by combining the airfoil theory with the dynamics of the robot dolphin,an efficient propulsion algorithm for the robot dolphin is proposed.Finally,an experimental platform was built,and the experimental research of robot dolphin was carried out.After the analysis of the experimental data,it is concluded that the leaping height of the robot dolphin is increasing with the increase of the oscillating frequency,and first increase then reduce with the increase of the swing amplitude,and increase with the increase of the leaping angle.In this paper,the structure of robot dolphin is designed and experiment of the robot dolphin is carried out.It lays a solid foundation for further study of leaping.In addition,further research in this paper will speed up the development of new generation of robots which are capable of moving underwater or beyond the water.