Design And Dynamic Analysis Of Promote Synergy Biomimetic Robotic Fish Basis On MPF/BCF

With continued integration of information technology and industrialization,technology of robotics as the representative of intelligent industry flourished and become a hallmark of the current era of technological innovation. Biomimetic robotic fish has so many characteristics such as high speed, high efficiency, maneuverability, low noise etc and has become an important tool for development of marine resources,applications of its technology in underwater has important practical significance and military value in the study of underwater robots. In this thesis, through the research of MPF model and BCF model, a two degrees of freedom bionic cod robot fish which is promoted collaboratively by pull mode of pectoral fin and three joint flexible tail fin, swimming modes of direct travel, backward, turning, parking are determined by establishing its hydrodynamic model, Numerical analysis and experimental verification. Specific content as follows:(1) The design of two degree of freedom pectoral fins for the biomimetic robotic fish, three joint flexible body and the caudal fin mechanism was completed. The design of control systems was accomplished. This motion mechanism not only has the advantages of many fin flapping MPF propulsion mode but also has the advantages of BCF advance mode. Since, it can achieve take wing, wing movement, and the compound movement of both. According to morphological bionics and hydrodynamics demand for fish, the design of the fish body shell was completed and also the prototype of the processing and debugging were completed.(2) The hydrodynamics mode of bionic robot fish is established and some related hydrodynamics is analysised. According to the characteristics of stroke mode pectoral fin, three joint flexibility tail fin and MPF/BCF of collaborative propulsion,considering the hydrodynamic factors,the hydrodynamics model of two degrees of freedom pectoral advance and three joint flexible tail fin propulsion are established respectively, the forces of bionic robotic fish body, pectoral fins and tail fin are obtained by using the method of element analysis, and the hydrodynamic equations of bionic robot fish are determined ultimately.(3) Through numerical analysis and experimental validation straight swim, backwards, turning, parking and other modes of bionic robot fish are determined. By using the hydrodynamics dynamic equations and the numerical simulation analysis, hydrodynamic conditions of the above swimming modes are determined and combining experimental results the final form of each swimming mode is determined.