Abstract
AbstractBased on the characteristics of high-frequency swing during fast swimming of fish, this paper designs a bionic fish-driven joint based on electromagnetic drive to achieve high-frequency swing. Aiming at the characteristic parameters of high-frequency swing control, the Fourier transform is used to separate the characteristic parameters and then compared the driving accuracy of the joints in open-loop and closed-loop. The comparison results show that the closed-loop control is performed after Fourier transform. Under the same driving conditions, the closed-loop control method can improve the joint driving accuracy. Then a bionic fish robot composed of three joints is designed according to this method and Kane method is used to model it dynamically and combined with the central pattern generator control method to complete model simulation and related experiments. The experimental results show that the bionic fish prototype can swim faster under high-frequency swing under electromagnetically driven joints.
Highlights
Underwater robot has been increasingly applied to a variety of situations, such as data collection underwater monitoring and underwater exploration for salvage, for example, Bluefin 21 was applied in the search for Malaysia Airlines Flight 370 [1]
Lauder and Tangorra [15] explored the theory of body and finbased movements from the perspective of biology; Yu et al [16] developed robotic fish to examine the control mechanism of central pattern generator (CPGs); Butail et al investigated the feasibility of Downloaded from https://www.cambridge.org/core
By controlling the swing frequency of the bionic tuna and the phase difference between the joints, different swimming speeds and joint swing curves of the prototype in water were obtained. Because this test will be performed in a pool, the bionic tuna prototype needs to be watertight-treated and tested before the experiment, and the prototype is completely immersed in the pool by adding a weight block
Summary
Underwater robot has been increasingly applied to a variety of situations, such as data collection underwater monitoring and underwater exploration for salvage, for example, Bluefin 21 was applied in the search for Malaysia Airlines Flight 370 [1]. The movement of fish in the water is usually realized by the reciprocating swing of fins, which is different from the traditional motor control based on speed or position closed-loop mode. In 2015, Song and Lee [30] of Xijiang University in South Korea developed a solenoid actuator with a ferromagnetic plunger and applied the solenoid actuator to a multi-segment micro-robot to generate linear and rotational motion Using this new electromagnetic actuator as the actuator of biomimetic robot fish, it is easy to achieve joint miniaturization and reliable underwater sealing. At the same time, using electromagnetic drive, it is convenient to simulate the fin swing of bionic fish at high frequency; at the same time, it has the advantages of small volume and lightweight. It is verified that the bionic fish prototype can achieve rapid swimming performance by electromagnetically driving the joints at high frequency
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