基于胸鳍辅助推进的仿生机器鱼

Biomimetic Robotic Fish Based on Pectoral Fins Auxiliary Propulsion

为提高仿生机器鱼游动的机动性能并完善传统尾鳍推进模式,设计一种基于胸鳍辅助推进的仿生机器鱼。将胸鳍与尾鳍推进模式相结合,采用正弦信号对仿生机器鱼的尾鳍进行控制,通过胸鳍来调整鱼体方向,从而实现上升及下降的动力提供。对机器鱼整体、主控系统、执行模块和通信模块进行设计,并通过实验验证。实验结果表明:该仿生机器鱼能够更灵活、更精确地实现浅水中前进、上升下潜以及盘旋、回转和制动,并通过人机交互对仿生鱼进行控制,结合其自主避障、图像传输等辅助功能,实现对海洋环境的实时监测。

For improving biomimetic robotic fish swimming flexibility and traditional tail fin propulsion, design biomimetic robotic fish based on pectoral fins auxiliary propulsion. Combine pectoral fins auxiliary propulsion mode with tail fin propulsion, use sine signal to control tail of biomimetic robotic fish, change fish swimming direction by pectoral fins, then realize power supply of ascending and descending. Design biomimetic robotic fish, main control system, execution module and communication module, verify it by test. The test results show： the biomimetic robotic fish can be more flexible and precise to realize advancing in shallow water, floating, diving circle flight, rotating and braking, then control fish by human-computer interaction, realize real time monitoring on ocean environment by combining auxiliary functions such as autonomous obstacle negotiation function, and image transmission.