Design and Manufacture of a Biomimetic Robot Fish Featured with Undulatory Propulsion

波動擺動推進方式的仿生魚設計與製造

10.6983/KHHYKTHP.201103.0085

王永聯(Yung-Lien Wang)；曾建智(Jian-Zhi Zeng)

仿生魚 ； 波動運動 ； 機構系統 ； 電控系統 ； biomimetic robot fish ； undulatory motion ； mechanism system ； control system

高雄海洋科大學報

25期（2011 / 03 / 01）

85 - 100

英文

本研究是以波動運動推進的仿生魚做為設計方向，將實現過程分成機構系統與電控系統，在機構系統是以觀察魚類的運動形式分為前進、右彎、左彎與浮潛等四種模式，並解析每個動作狀態。電控系統分成控制晶片單元，致動器單元與感測器單元，由控制器送訊號至致動器單元帶動機構做擺動動作，感測器單元使用紅外線偵測障礙物做迴避動作。仿生魚的水密方法是採用外殼包覆防水，保護內部電路與機構。

This paper aims at designing a biomimetic robot fish featured with an undulatory propulsion system, and divides the implementation procedure into mechanism system and control system. In the mechanism system, four modes, namely, moving forward, turning right, turning left, and floating and diving are designed. These motions are based on the observation of a real fish, wherein each type of motion is analyzed. The control system is composed of a control chip, actuator, and sensor. The controller sends a signal to the actuator, which then drives the mechanism to make the oscillatory motion, and the sensor will inspect any obstruction using the infrared ray. Through this system, the biomimetic robot fish could evade any obstacle. The biomimetic robot is wrapped with a waterproof jacket that protects the internal electrical circuit and mechanism.