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Research and experiments on electromagnetic-driven multi-joint bionic fish

Published online by Cambridge University Press:  02 July 2021

Zhuo Wang ,
Luoyao Wang ,
Tao Wang  and
Bo Zhang Open the ORCID record for Bo Zhang [Opens in a new window]
Zhuo Wang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China
Luoyao Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China
Tao Wang
Affiliation:
School of Mechanical Engineering, Hebei University of Technology, Tianjin, 300401, China
Bo Zhang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China
*
*Corresponding author. Email: wangzhuo_heu@hrbeu.edu.cn
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Abstract

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Based 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.

Keywords

bionic fishelectromagnetic drivesimulationprototypeexperiments

Information

Type
Article
Information
Robotica , Volume 40 , Issue 3 , March 2022 , pp. 720 - 746
Creative Commons
Creative Common License - CCCreative Common License - BY
This is an Open Access article, distributed under the terms of the Creative Commons Attribution licence (http://creativecommons.org/licenses/by/4.0), which permits unrestricted re- use, distribution and reproduction, provided the original article is properly cited.
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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