【正文】 idworks is used for mechanical structural modeling, interference check and motion simulation tests. Arduino integrating development environment is used for piling and writing controlling procedures and hardware circuit board is selected to plete motor control, remote munications and other tasks. After repeated experiments optimization, the high propulsive efficiency tail fin is designed at last and maximum sailing speed, radius of turning circle ,the maximum floating and diving speed of robotic fish under the promote of caudal fin is tested. At the same time, we use the appropriate choice of remote munication technologies to achieve free remote control of the machine fish when the depth of the water is certain. Additionally, the robot fish shell is landscaped and other items are tested, such as immersion test that under water for a long time and the test of the continuation of the journey. Testing shows that all items meet the requirements. Key words: Robotic fish, Ornamental, Remote control, Caudal fin propulsion 北京航空航天大學(xué)畢業(yè)設(shè)計(jì) (論文 ) 第 IV 頁 目 錄 1 緒論 ...................................................................................................................................... 1 課題背景及目的 ........................................................................................................... 1 國(guó)內(nèi)外研究現(xiàn)狀 ........................................................................................................... 1 國(guó)外研究現(xiàn)狀 .................................................................................................... 1 國(guó)內(nèi)研究概況 .................................................................................................... 2 課題研究方法 ............................................................................................................... 3 論文構(gòu)成及研究?jī)?nèi)容 ................................................................................................... 3 2 機(jī)器魚機(jī)械結(jié)構(gòu)設(shè)計(jì) .......................................................................................................... 5 魚類推進(jìn)機(jī)理分析 ....................................................................................................... 5 驅(qū)動(dòng)器的選擇 ............................................................................................................... 5 驅(qū)動(dòng)機(jī)構(gòu)的選擇 ........................................................................................................... 6 驅(qū)動(dòng)器的選型 ............................................................................................................... 8 電機(jī)的選型 ........................................................................................................ 8 舵機(jī)的選型 ...................................................................................................... 10 整體機(jī)械結(jié)構(gòu)的設(shè)計(jì) ................................................................................................. 11 尾鰭驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì) .......................................................................................... 11 胸鰭驅(qū)動(dòng)機(jī)構(gòu)設(shè)計(jì) .......................................................................................... 12 機(jī)器魚的外殼設(shè)計(jì) ..................................................................................................... 13 外形設(shè)計(jì) .......................................................................................................... 13 殼內(nèi)結(jié)構(gòu)設(shè)計(jì) .................................................................................................. 15 密封設(shè)計(jì) ..................................................................................................................... 16 尾鰭設(shè)計(jì) ..................................................................................................................... 18 其他附件設(shè)計(jì) ............................................................................................................. 18 美觀扣件設(shè)計(jì) .................................................................................................. 18 北京航空航天大學(xué)畢業(yè)設(shè)計(jì) (論文 ) 第 V 頁 背鰭設(shè)計(jì) .......................................................................................................... 19 本章小結(jié) ................................................................................................................... 19 3 硬件電路設(shè)計(jì)與程序編寫 ................................................................................................ 21 硬件電路設(shè)計(jì) ............................................................................................................. 21 供電系統(tǒng)設(shè)計(jì) .................................................................................................. 21 電機(jī)驅(qū)動(dòng)模塊選型 .......................................................................................... 23 遙控器的選擇 .................................................................................................. 24 主控板選擇 ...................................................................................................... 25 程序設(shè)計(jì) ..................................................................................................................... 26 運(yùn)動(dòng)模式分析 .................................................................................................. 26 程序編寫工具 .................................................................................................. 26 程序模塊劃分 .................................................................................................. 27 本章小結(jié) ..................................................................................................................... 29 4 零部件裝配及調(diào)試 ............................................................................................................ 30 機(jī)械結(jié)構(gòu)裝配調(diào)試 ..................................................................................................... 30 程序調(diào)試 ..................................................................................................................... 30 系統(tǒng)總裝配調(diào)試 .............................