Design And Research Of Space Tail Fin Swing-in Device Based On Magnetic Field

The ocean covers more than 70% of the earth’s surface and contains abundant renewable energy and mineral resources.Due to its strong applicability and high navigation efficiency,the bionic robot fish has become a research hotspot for underwater energy detection vehicles.At present,the propulsion method of the bionic robotic fish is mainly realized by multiple steering gears or motors supplemented by more complex mechanisms,which are large in size,heavy in weight,and have a single swing plane.Aiming at these problems,based on the idea of combined bionics,a magnetic field-based space caudal fin swing-in device was designed,and the space magnetic field analysis,structure and control design of the caudal fin were carried out,and experimental verification was carried out.The main research contents are as follows:(1)Established the motion model of the tail fin swing in space,analyzed the motion trajectory of the tail fin under the swing axis at different azimuth angles in the motion domain,realized two tail fin swing modes of tuna and cetaceans;established the space magnetic field of the tail fin swing in space based on the magnetic field The model expounds the working principle of the magnetic field of the tail fin space swing;carried out the finite element analysis of the magnetic induction intensity inside the space magnetic field,and used the virtual displacement method and the superposition principle to analyze and calculate the tail fin swing torque,laying a theoretical foundation for the follow-up prototype design.(2)Based on Ansys Maxwell,a simplified model of the magnetic field in which the tail fin swings into space is established.under the excitation of the strand type current,the magnetic field intensity distribution is analyzed through the magnetic density vector diagram and magnetic density cloud diagram of the stator and rotor.The force characteristics of a single stator winding and the force superposition of the stator group were carried out to determine the swing plane of the tail fin.the influence analysis of the magnetic circuit parameters on the tail fin torque performance was carried out,and the magnetic field visualization of the rotor at different rotation angles was realized.The ampereturns and air gap of the prototype were determined on the basis of comparing the rotor torque values under different parameters.(3)Taking albacore tuna as the bionic prototype of the fish body,the principle prototype design of the robotic fish based on the space caudal fin swing mode was carried out,including the structural design of the body and caudal fin of the robotic fish,the selection and size design of the various parts of the magnetic device,and the robotic fish in water.Dynamic balance and sealing design.Carried out the software and hardware design of the robot fish movement and the robot fish movement data control system.Based on the TCP protocol,the mobile phone app is connected to the single-chip microcomputer through the cloud server to control 4 bidirectional motor drive modules.Or the cetacean tail fin swings in for propulsion,and at the same time uses the MPU6050 six-axis sensor to realize the collection of robot fish pose data..(4)Carried out the experimental design of the space tail fin swing-in based on the magnetic field,and built the experimental platform;carried out the prototype torque experiment,and made a qualitative comparison with the theoretical torque to verify the correctness of the magnetic field model.carried out the tail fin propulsion performance experiment,studied The effect of the swing frequency on the propulsion force was investigated,and the feasibility of the space caudal fin swing model to realize the tuna or cetacean swing model was verified.