Research and Design of Bionic Robofish for Water Quality Detection

Aiming at the inefficiency and small detection range of existing water quality detection methods, a bionic robofish based on the BeiDou system is proposed to improve the efficiency and range of water quality detection. Using the body and/or caudal fin propulsion mode (BCF) fish as the research object, the swimming principle of the bionic robofish was studied and analyzed through the mathematical model of the wave envelope curve of the fish's body. A three-joint propulsion mechanism was designed, and kinematic simulation analysis was carried out by Matlab software to realize the parametric adjustment of the motion posture of the bionic robofish, and the shape of the fish body was optimized by CFD. A hardware control system with Arduino as the central controller was designed to realize the remote control of the bionic robofish based on the navigation and positioning function of BDS. Finally, the prototype experiment verified the feasibility of the overall design.