DESIGN AND RESEARCH ON A BIOMIMETIC ROBOTIC FISH WITH SINGLEJOINT ACTUATION PROPELLED BY CAUDAL FIN

Imitating the style of the motion of fish mail in nature, this paper design and develop a single joint tail finpropelled small robotic fish system. To meet the design specifications of the premise. The whole design process is divided into mechanical design, software and hardware design. The threedimensional design software Solidworks is used for mechanical structural modeling, interference check and motion simulation tests. Arduino integrating development environment is used for compiling and writing controlling procedures and hardware circuit board is selected to complete motor control, remote communications and other tasks. After repeated experiments optimization, the high propulsive efficiency tail fin is designed at last and maximum sailing speed, radius of turning circle ,the maximum floating and diving speed of robotic fish under the promote of caudal fin is tested. At the same time, we use the appropriate choice of remote communication technologies to achieve free remote control of the machine fish when the depth of the water is certain. Additionally, the robot fish shell is landscaped and other items are tested, such as immersion test that under water for a long time and the test of the continuation of the journey. Testing shows that all items meet the requirements.