Electromagnetic drive system of robotic fish

Abstract

With the aim to apply the electric fish into practice to assist coal mine water disaster life detection and rescue work, based on the analysis on swing propulsion movements of tail fin, this paper integrates the electromagnet technology with tail fin drive system by analyzing how the fish swims with tail fin under the law of progression. The principle, structure, and drive signals of tail fin electromagnetic drive are researched, the enforced situation of fish under electromagnetic driving modes are analyzed, and the experimental plat-form of tail fin electromagnetic drive is established. The best distance between electromagnet and armature, which can realize the swing of tail fin, was researched in the experiment under water. The robotic fish structure parameters of tail fin electromagnetic drive was finalized by theoretical analysis and experimental measurement.