As a multidisciplinary problem, research on biomimetic robot fish has become a hotspot of robotics. The special swimming model of fish inspires new ideas for the development of underwater vehicle with high performance. Funded by the National High Technology Program, this dissertation focuses on the development of a biomimetic robot fish, submerging & ascending technique, motion control technique and architecture of an autonomous robot fish with some sensors. Based on achievements in related fields, a systematic design of the biomimetic robot fish is outlined. According to characteristics of fish's swimming, both body and movement parameters are extracted, and then a kinematic propulsive model for carangiform propulsion is simplified and improved. Considered the limitations of the electrical and mechanical apparatus, systematic design is implemented. A software platform that is convenient to the development of biomimetic fish with multi-link is set up, and the development of a prototype validate its effectiveness. After compared with three schemes of the realization of submerging & ascending locomotion of the biomimetic robot fish, pectoral fins is selected as an added apparatus to fulfill the developed prototype's submerging & ascending locomotion. The pectoral fins' parameters are calculated according to hydrodynamic analysis. At the same time, some problems accompanied with the robot fish swim underwater are discussed and solved. Experiments on the new type robot fish with a pair of pectoral fins show its good performance. Grounded on the flexible body of the robot fish, some control methods are presented to make the fish swim agilely. The fish's locomotion is divided into speed control, orientation control and transient motion control. Experiments with these methods show validity of them and good maneuverability of the fish. With the purpose of the fish's autonomous swimming, research on the developed robot fish with multiple sensors is carried on. Sensor network of the fish is set up, and architecture of the intelligent robot fish is also presented. Some experiments are finally implemented on a prototype of robot fish equipped with some infrared sensors.
修改评论