The Design of Floating Magnetic Pendulum-Driven Robot Fish Diving and Counterweight

Abstract

Bionic robot fish with the merits of high efficiency, good mobility, low noise and little damage to the environment has important future applications to the exploration of the sea, environmental monitoring and military field. Finished machines overall design and parameter determination of fish, applicated suction drainage of the bladder-like in floating and diving instead of pumping and solenoid valve to control their weight, simplified equipment, reduced the leakage of gas, increasing accuracy. Counterweight focused on gravity and buoyancy balance, applying mathematical methods to confirm body weight and floating force points, and according to the tumbler principle in the belly cavity to add weight. Provide theoretical and experimental basis for robotic fish design.