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

• DOI: 10.1017/s0263574721000771
• Publication Date: 2021-07-02T09:26:37Z
• Authors: Zhuo Wang; Luoyao Wang; Tao Wang; Bo Zhang
• Keywords: 0209 industrial biotechnology; 02 engineering and technology

Abstract Based on the characteristics of high-frequency swing during fast swimming fish, this paper designs a bionic fish-driven joint based electromagnetic drive to achieve swing. Aiming at characteristic parameters control, Fourier transform is used separate and then compared driving accuracy joints in open-loop closed-loop. The comparison results show that closed-loop control performed after transform. Under same conditions, method can improve accuracy. Then fish robot composed three designed according Kane model it dynamically combined with central pattern generator complete simulation related experiments. experimental prototype swim faster under electromagnetically driven joints.