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首页> 外文会议>2016 Al-Sadiq International Conference on Multidisciplinary in IT and Communication Techniques Science and Applications >Design and implementation of swimming robot based on Carp fish biomimetic
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Design and implementation of swimming robot based on Carp fish biomimetic

机译：基于鲤鱼仿生游泳机器人的设计与实现

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摘要

This paper introduces a complete plan for design and implementation of a biomimetic robotic fish. The robot design is physically based on a model of a Carp fish. The designed robot has a rigid anterior body part, flexible posterior body part and a flexible caudal fin. The flexible posterior body part is consists of four links and are driven by four servomotors in addition to a fifth one for controlling the robot pitch angle through changing the centre of gravity position. The designed robot was also equipped with diving system which consists of a water pump and an internal tank. The fish locomotion control is divided into speed, orientation, diving and transient motion control. The swimming of the robotic fish was relied on the so called behavioural based control system that makes use of a sensor fusion algorithm. The innovative design of the robotic fish combines the two schemes of the underwater vehicles or robots control in that it can swim autonomously or remotely controlled by a personal computer via WiFi link. The experimental results of the designed robotic fish show the excellent feasibility and high performance of the proposed design.
机译：本文介绍了仿生机器人鱼的设计和实现的完整计划。机器人的设计实际上是基于鲤鱼模型的。设计的机器人具有刚性的前身体部分，柔性的后身体部分和柔性的尾鳍。柔性后躯体部分由四个连杆组成，除了第五个伺服电机外，还由四个伺服电机驱动，第五个伺服电机用于通过改变重心位置来控制机器人俯仰角。设计的机器人还配备了潜水系统，该潜水系统包括水泵和内部水箱。鱼的运动控制分为速度，方向，潜水和瞬时运动控制。机器鱼的游泳依赖于所谓的基于行为的控制系统，该系统利用传感器融合算法。机器鱼的创新设计结合了水下车辆或机器人控制的两种方案，它可以通过WiFi链接自主游泳或由个人计算机远程控制。所设计的机器鱼的实验结果表明，所提出的设计具有极好的可行性和高性能。

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