兵工自动化2016，Vol.35Issue(5)：80-83,4.DOI:10.7690/bgzdh.2016.05.021
基于胸鳍辅助推进的仿生机器鱼
Biomimetic Robotic Fish Based on Pectoral Fins Auxiliary Propulsion
王梅娟 1王楠 1瞿逸洲 1韦典成1
作者信息
- 1. 解放军理工大学指挥信息系统学院，南京 210007
- 折叠
摘要
Abstract
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.关键词
水中机器人/仿生机器鱼/尾鳍推进/胸鳍辅助推进Key words
underwater robot/biomimetic robotic fish/tail fin propulsion/pectoral fins auxiliary propulsion分类
信息技术与安全科学引用本文复制引用
王梅娟,王楠,瞿逸洲,韦典成..基于胸鳍辅助推进的仿生机器鱼[J].兵工自动化,2016,35(5):80-83,4.
