The Structural Design and Control System of a Caudal Fin Robotic Fish
نویسنده
چکیده
This article took the trevally crescent-shaped caudal fin mode fishes as bionic object, based on the biological observation and bionic research, established the fish swimming model of trevally crescentshaped caudal fin mode, and designed the three degrees of freedom, tailtail fins pectoral fin, robotic fish. It detailed focuses on the fish propulsion theory and robotic fish overall design, including mechanical design, tail design, pectoral design, hardware control system design, drive system design, software design, and the selection and application of steering gear, stepper motor, and microcontroller.
منابع مشابه
Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces
This paper focuses on the development and control issues of a self-propelled robotic fish with multiple artificial control surfaces and an embedded vision system. By virtue of the hybrid propulsion capability in the body plus the caudal fin and the complementary maneuverability in accessory fins, a synthesized propulsion scheme including a caudal fin, a pair of pectoral fins, and a pelvic fin i...
متن کاملEvolutionary multiobjective design of a flexible caudal fin for robotic fish.
Robotic fish accomplish swimming by deforming their bodies or other fin-like appendages. As an emerging class of embedded computing system, robotic fish are anticipated to play an important role in environmental monitoring, inspection of underwater structures, tracking of hazardous wastes and oil spills, and the study of live fish behaviors. While integration of flexible materials (into the fin...
متن کاملEvolutionary Design and Experimental Validation of a Flexible Caudal Fin for Robotic Fish
Designing a robotic fish is a challenging endeavor due to the non-linear dynamics of underwater environments. In this paper, we present an evolutionary computation approach for designing the caudal fin of a carangiform robotic fish. Evolutionary experiments are performed in a simulated environment utilizing a mathematical model to approximate the hydrodynamic motion of a flexible caudal fin. Wi...
متن کاملDesign and Implementation of a Biomimetic Robotic Fish
Design and Implementation of a Biomimetic Robotic Fish Hongan Wang The study of biomimetic robotic fish has received a growing amount of research interest in the past several years. This thesis describes the development and testing of a novel mechanical design of a biomimetic robotic fish. The robotic fish has a structure which uses oscillating caudal fins and a pair of pectoral fins to generat...
متن کاملNote: Dynamic analysis of a robotic fish motion with a caudal fin with vertical phase differences.
In this paper, a robotic fish with a caudal fin with vertical phase differences is studied, especially focusing on the energy consumption. Energies for thrusting a conventional robotic fish and one with caudal fin with vertical phase differences are obtained and compared each other. It is shown that a robotic fish with a caudal fin with vertical phase differences can save more energy, which imp...
متن کامل