Research Of Flounder Double Drive Bionic Robotic Fish

Bionic robotic fish is one of the key research directions of underwater vehicles,which has the advantages of safety,efficiency,low noise and good flexibility compared with traditional underwater vehicles.At present,short plates such as small propulsion and poor hydrodynamic performance still seriously restrict the movement performance of bionic robotic fish.Based on the biological prototype and wave propulsion theory,a double drive bionic robotic fish with simple structure,flexible movement and flat body shape is designed to improve the movement performance.The main research content is divided into the following four parts:Shape optimization design and hydrodynamic performance analysis of bionic robotic fish.Based on the multi-objective optimization method,the main shape of the bionic robotic fish is designed.The full-parameter agile low-resistance bionic robotic fish structure design method is used to optimize the main body shape,and the optimized results are analyzed by three-dimensional modeling and hydrodynamic simulation to solve the problem of high resistance brought by the main body during underwater navigation.Bionic robotic fish drive system design.Based on the wave propulsion theory,the main driving system of the caudal fin three joints is designed.The caudal fin does approximate sine fluctuation to generate the main thrust.The pectoral fin auxiliary drive system is designed to generate additional thrust and achieve zero-radius steering.The active center of gravity adjustment system of near zero attack angle is designed to realize the change of movement attitude and reduce the navigational resistance.Bionic robotic fish movement modeling and modal analysis.According to the wave propulsion theory,the kinematic model of bionic fish is studied,and the fish body wave curve equation is analyzed and the appropriate fish body wave parameters are determined.The different swing amplitudes,speeds and frequencies of the caudal fin are compared and studied.The lift,resistance,lift ratio and flow field of the pectoral fin are studied and analyzed in different angle state.Bionic robotic fish electronic control system design.Research on selection and control strategy of caudal fin steering gear and pectoral fin steering gear.Research on selection of power supply and structural design of portable charging port.Research on difficulty and special feature of underwater communication and design underwater communication method suitable for shallow waters.