The Facilitation Of Pectoral Flapping On The Propulsive And Leaping Performance Of Robotic Dolphins

With the decrease of land resources,human beings have developed a variety of underwater robots to mine the rich mineral resources in the ocean.At present,the research on the robot dolphins mostly focuses on the back and belly movement of the tail and tail fin.First of all,this paper introduces the research status of different propulsion modes of robotic fish at home and abroad,then through the existing research on the movement mechanism of fish pectoral fins,combined with the swimming process of dolphins,based on the biological characteristics and movement rules,a simplified model of dolphin pectoral fins and tail is established.Secondly,the modular design of a robotic dolphin includes pectoral fin propulsion module,tail propulsion module,tail fin propulsion module and the overall shell.Through Adams,the kinematics and dynamics simulation of the key pectoral fin propulsion module is carried out.Thirdly,the hardware and software platform of the control system is built,including the main controller,driver module,perception module and communication module.The software platform includes the upper computer software design and the lower computer software design,which lays the foundation for the subsequent experiments.Finally,the dynamic mesh method is used to make the pectoral fin move according to the predetermined trajectory,and different propulsion and lift are output under different parameters On the basis of simulation,the experiments of direct swimming,turning and jumping are carried out,and the curves of the relationship between the angle of pectoral fin striking water and the frequency of flapping and the motion performance of dolphins are obtained.In this paper,the whole three-dimensional modeling of robotic dolphins is completed.Through the further study of this paper,we will speed up the research and development process of a new generation of underwater robots.