Desarrollo del sistema motriz virtual de una plataforma subacuática móvil inspirada en biomimetismo

Abstract

This paper presents the model of a virtual drive system of an underwater mobile platform inspired by biomimicry, selecting the subcarangiform mode of fishes as locomotion system which is based on body and caudal fins (BCF). This model uses two-thirds of the body for thrust and one of the most important features is the high maneuverability. The development of the model is based on simulation by designing the 3D model of the prototype using a computer aided design software (CAD), an analysis by considering the direct and inverse kinematics and a navigation control system by implementing the fuzzy logic. The algorithm implemented to solve the inverse kinematics is based on geometric methods considering the workspace and dividing it into subareas in order to analyze position, velocity, acceleration and torque for every joint of the robot fish. Also, a navigation control algorithm was developed using the fuzzy logic as non-linear control method. The results represent an approximation of subacarangiform mode of fish behaviours for future physical implementation of an underwater platform inspired by biomimicry.