The Design And Motion Control Of Line-driven Biomimetic Robot Fish

Now,an increasing number of people begin to pay attention to sea resource’s development and utilization.Underwater robot technology,as an important foundation of the development and utilization of sea resource,is paid more and more attention to by those countries owning vast sea area.Bionic machine fish is one of underwater robots,which is hot topic about underwater robot’s development in the future.Over the past years,fishes have evolved to more efficient advance way.Line drive bionic machine fish model periodontal tail fin fish designed in this thesis has many advantages such as high efficiency,favorable controllability,fast velocity and so on,but at present,the swimming performance of biomimetic fish is far less than that of biological fish,in particularly,the underwater communication problem still need to be solve.In the beginning of this thesis,it introduces bionic machine fish’s background.On the basis of this background and current study of bionic machine fish and line drive at home and abroad,a research plan was drawn.Then,by studying periodontal tail fin fish’s principle of swimming,On basis of STC12C5A60S2 MCU control system,a motor-driven six-tail line machine fish and a simulation swim bladder to achieve machine fish submerge was designed.Then,I built a parameterized caudal fins mathematical model and analyzed its dynamics and kinematics principle.Finally,experiment for line drive bionic machine fish was carried out.Setting up different steering gear turn and speed of rotation,we get a different swing frequency and swing amplitude about machine fish caudal fins,which provide solid basic theory for building mathematical mode of line drive bionic machine fish;Thus,line drive bionic machine fish prototype and control system were created for further study of machine fish’s dynamics and kinematics;also a remote control of bionic machine fish was carried out to achieve straight forward,turn and lift the action of the experiment.And through above experiments,this thesis has found out the relationship between the linear velocity of the bionic robot fish and the pitch angle and the pitch frequency,thus obtained the optimalpendulum angle and the tail frequency of the bionic robot fish,providing theoretical information for later research and practical application.