Design and Development of an Underwater Robot Inspired by Sea Turtles

摘要

In this paper, we design and build a bionic robot based on a sea turtle. The part of the device includes joint design, sealing design and controls. The sinusoidal curve is used to analyze the turtle robot's fin motion profile and to control the way it moves. Individual joints are given movement curves during sea turtle movement. Synergy of different fin joints during sea turtle movement is verified with MATLAB software. In addition, we also measure the propulsion force of the bionic turtle robot. The experimental results show that the use of trigonometric curves for the fin joint trajectory of the turtle robot can lead to an appropriate motion.