Structure design and performance simulation analysis of underwater robot based on biological mechanism of boxfish

Abstract

With marine biodiversity threatened by human activities, it is particularly important to protect and study marine species, of which boxfish is one of the focuses of research. In this study, the propulsion mechanism and structural characteristics of boxfish are deeply explored, aiming to design an efficient biomimetic underwater robotic fish that mimics its physiological structure. Based on the analysis of the swing and flapping of the chest fin of boxfish, a two-degree-of-freedom bionic pectoral fin was designed. The propulsion force was controlled by the tail fin steering engine, and a dynamic model was established according to Lighthill's equation. Through the bionic shape design, including the application of NACA0016 airfoil and concave design, as well as the advanced control system design supported by control unit and IMU, the bionic underwater robotic fish has demonstrated excellent motion efficiency and environmental adaptability. The effectiveness of the hydrodynamic design of the simulated boxfish, namely, the front high pressure area, the side low pressure vortex area and the tail high speed jet area, is verified by ANSYS Fluent software simulation. This study has an important impact on marine ecological protection, bionics research and the development of underwater vehicle technology, and provides a theoretical and practical basis for designing more efficient and flexible underwater vehicles. Future research will explore the application of more biological principles and develop miniaturized and intelligent underwater vehicles to cope with diverse tasks in complex water environments.