Simulation and Analysis for Propulsion Mechanism of Carangiform Robotic Fish on ADAMS

摘要

A new kind of propulsion mechanism of carangiform robotic fish is introduced in this paper. The principle of swimming of carangiform fish was analyzed and then illustrated the general working principle of propulsion mechanism, which ensures the stability and flexibility of the robotic fish swimming in the water. According to the design principle and parameters of whole prototype, the carangiform robotic fish have different pitching and yawing motions, which enables the carangiform robotic fish can adapt to complicated environment. Then the velocity of caudal fin was analyzed theoretically and the relationship between oscillating frequency and maximum amplitude were given. Finally using ADAMS software to analyze and simulate the propulsion mechanism, then make a pool test to valid the efficiency of the propulsion mechanism and get a good result, which ensures the robotic fish have a high reliability and practicability in the future.