ROBOTIC FISH

Robot c (Fish robot) l mt dng robot phng sinh hc (Biomimetic robot)

c quan tm ngy cng nhiu trong nhng nm gn y. Vi u im vt
tri so vi phng tin di chuyn di nc truyn thng l dng ng c y
(thruster) nh ROV (Remotely Operated Vehicles) hay AUV (Autonomous
Underwater Vehicles), robot c s dng s chuyn ng ca thn v ui mt
cch linh hot to ra chuyn ng v vic tiu tn nng lng s t hn so vi
vic s dng ng c y.
Ngi ta phn loi robot c da vo chuyn ng ca thn to lc y, gip
c tin v pha trc.
C nm dng chuyn ng ca c l:
Angulliform : chuyn ng c to ra bng vic un ln thn mnh t u
n ui ging nh ln (hnh 1)

Hnh 1. Chuyn ng tin v li ca ln

Subcarangiform : chuyn ng bng cch tang bin ca sng bng na thn
di (hnh 2)

Hnh 2. Chuyn ng ca c Tuyt

Carangiform : dao ng c to ra t phn vy ui v phn bng, ging nh
c hi, c ng.. (hnh 3)

Hnh 3. Chuyn ng ca c Chp

Thunniform : chuyn ng tp trung ch yu ui, do vy ui phi rng

v c bin dng hnh trng li lim (hnh 4)

Hnh 4. Chuyn ng ca c Bc M
Ostraciiform: dao ng c to ra ch t vy ui, khng c s chuyn ng
ca thn, ging nh c Np Hm (hnh 5)

Hnh 5. Chuyn ng ca c Np Hm

Hin nay, a s trong m phng c, ngi ta nghin cu v loi chuyn ng

Carangiform l ch yu.

Sau y l s nguyn l ca c chuyn ng loi Carangiform.

Trong :

servo motor : gm 2 ng c servo,to chuyn ng cho tail part (phn

ui bng) v tail fin (phn vy ui) thng qua 1 c cu l waterproof boot
( b truyn ng khng thm nc), chuyn ng un tng i nh 2 khp bn
l Joint No.1 v No.2.
Ngoi ra cn c b R/C Receiver c chc nng thu sng t b iu khin
(iu khin t xa).

Hng pht trin robot:

1. Tm ra thut ton chuyn ng ca dng Carangiform

( c tm thy 1 vi dng s ton, nhng em vn cha hiu)
2. T thut ton xy dng m phng chuyn ng trn Matlab hoc cc
phn mm lp trnh khc.
( v phn ny th tm thi em vn cha bit)
3. Thit k m hnh trn Solidworks, c m phng chuyn ng.
(hin em vn cn cha rnh v Solidworks v Matlab)
4. Cc mch in t c xy dng nh th no? u c c cc mch
y? Mnh phi ch to hay l mua u? Dng mch no th thch hp
nht? Vn tiu tn nng lng cng cn c xt n.
5. Thm vo cc chc nng cho robot c, nh l cc cm bin p sut, cm
bin nhit , cm bin nh sang, camera quan st di nc, h thng
pht hin cht bn trong nc, h thng scan khu vc di nc,..
6. Ch to nh th no? V lm sao gia cc khp ni vi nhau c th
chuyn ng c m khng b v nc?
7. C th dng 1 ngun nng lng no t ngun nc hoc nh sng m
khng cn dng Pin hay khng?
8. C th kt hp lm 1 con robot va c th bi trong nc, va c th bay
trn khng, nh c chun chng hn.
9. Chi ph,chi ph mnh c th xin tr cp u hon thnh con robot
ny hay khng?
10. Mnh nn lm 1 con c tt c cc chc nng nh o nhit , o nh
sng, nhim, quay cc thc phim ng vt di nchay l ch
to vi con robot lun i chung vi nhau thnh tng n, mi con 1 nhim
v ring?