【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 北京航空航天大學畢業(yè)設計 (論文 ) 第 IV 頁 目 錄 1 緒論 ...................................................................................................................................... 1 課題背景及目的 ........................................................................................................... 1 國內外研究現(xiàn)狀 ........................................................................................................... 1 國外研究現(xiàn)狀 .................................................................................................... 1 國內研究概況 .................................................................................................... 2 課題研究方法 ............................................................................................................... 3 論文構成及研究內容 ................................................................................................... 3 2 機器魚機械結構設計 .......................................................................................................... 5 魚類推進機理分析 ....................................................................................................... 5 驅動器的選擇 ............................................................................................................... 5 驅動機構的選擇 ........................................................................................................... 6 驅動器的選型 ............................................................................................................... 8 電機的選型 ........................................................................................................ 8 舵機的選型 ...................................................................................................... 10 整體機械結構的設計 ................................................................................................. 11 尾鰭驅動機構設計 .......................................................................................... 11 胸鰭驅動機構設計 .......................................................................................... 12 機器魚的外殼設計 ..................................................................................................... 13 外形設計 .......................................................................................................... 13 殼內結構設計 .................................................................................................. 15 密封設計 ..................................................................................................................... 16 尾鰭設計 ..................................................................................................................... 18 其他附件設計 ............................................................................................................. 18 美觀扣件設計 .................................................................................................. 18 北京航空航天大學畢業(yè)設計 (論文 ) 第 V 頁 背鰭設計 .......................................................................................................... 19 本章小結 ................................................................................................................... 19 3 硬件電路設計與程序編寫 ................................................................................................ 21 硬件電路設計 ............................................................................................................. 21 供電系統(tǒng)設計 .................................................................................................. 21 電機驅動模塊選型 .......................................................................................... 23 遙控器的選擇 .................................................................................................. 24 主控板選擇 ...................................................................................................... 25 程序設計 ..................................................................................................................... 26 運動模式分析 .................................................................................................. 26 程序編寫工具 .................................................................................................. 26 程序模塊劃分 .................................................................................................. 27 本章小結 ..................................................................................................................... 29 4 零部件裝配及調試 ............................................................................................................ 30 機械結構裝配調試 ..................................................................................................... 30 程序調試 ..................................................................................................................... 30 系統(tǒng)總裝配調試 .............................