Design and Motion control of a Small Underwater Robot

摘要

In order to solve the conflict of energy utilization and dynamic performance in the underwater robot, this paper proposes a new structure of it. The underwater robot in the paper has two motion modes, cruise mode and tracking mode. In its cruise mode, straight-swimming, turning-swimming, burst, rising and diving are realized like a fish. It has a three -DOF biomimetic tail which can simulate fish swimming. In tracking mode, it can also realize the motion in the cruise mode, but it is thrusted by propellers. So it has a powerful motivation and can swim more smoothly and faster. And it also benefits to use camera to trace targets. We use modular design in it. Each part of the robot can be disassembled. Furthermore, the paper also deals with the motion control of the robot. By the two motion modes, the conflict of energy utilization and dynamic performance is solved. The paper finally proves the superiority of the underwater robot's performance through experiments.