摘要分析和研究机器鱼的基本原理，并在老师的帮助下，我们选择了以三个舵机作为连接机构，两个舵机作为辅助运动机构的设计方案，主要是考虑到使结构简单，运动灵活。除了整体结构设计外，我们设计了基于80C51单片机的电路板和基于安卓系统的软件控制系统。同时，考虑到仿生机器鱼的防水性，本次项目用铝作为骨架，选择防水布料作为关节处的鱼皮，在非关节处用橡皮泥制作外形，来实现鱼的防水性和美观性。在整体结构设计过程，我们在制作过程中，还详细了解了舵机的各种知识，通过分析鱼的运动姿态，来设计仿生机器鱼的运动，我们决定硬件电路部分由51单片机、驱动器和电源模块等几个部分组成。仿生机器鱼的结构部分最重要的便是舵机之间的连接结构的设计和材料选择。通过对舵机连接结构的观察，本次项目通过CAD软件设计了整体的机械结构图，并购买材料在实验室进行加工。在软件方面，我们的软件分为两个部分，第一个部分是运动程序，在这方面设计了前进，左转和右转等基本动作，外加蓝牙控制。第二部分是功能程序，主要有远程控制，gps定位，人机交互，远程摄像，多种类语音导游等功能。本项目是以海洋馆导游型机器鱼为目的设计的智能型仿生机器鱼。在论文结尾，本次项目可以对已设计好的仿生机器鱼添加更多的功能，用于针对环境更加复杂和未知的场合。86135

毕业论文关键词：水下仿生机器鱼、STC89C51；运动程序，功能程序

Abstract The basic principles of analysis and Research on robotic fish and under the help of the teacher, we choose the three servos as connecting mechanism, two steering gear as the auxiliary motion mechanism design, mainly taking into account so that the structure is simple and flexible motion。 In addition to the overall structural design, we designed a circuit board based on 80C51 MCU and software control system based on Android。 At the same time, considering the waterproofing of bionic robot fish, this project with aluminum as a skeleton, choose a waterproof cloth as the joints of skin, in the non joint with plasticine make the form, the fish waterproof and beautiful。 In the overall structure of the design process, we in the production process, a detailed understanding of the steering gear of all kinds of knowledge, through the analysis of fish movements to design biomimetic robot fish motion, we decided to hardware circuit part is composed of 51 single chip computer, a driver and a power supply module。 The most important part of the structure of the bionic robot fish is the design and material selection of the connection structure between the steering gear。 Through the steering gear connection structure observation, this project through the CAD software design of the overall mechanical structure, and the purchase of materials in the laboratory processing。 In the software, our software is pided into two parts, the first part is the motion program, in this regard, the design of the forward, turn left and right and other basic action, plus Bluetooth control。 The second part is a functional program, mainly with remote control, GPS positioning, human-computer interaction, remote camera, multiple types of voice guide and other functions。 This project is to guide the aquarium fish machine intelligent bionic fish objective design。 At the end of the paper, the project can add more features to the design of the bionic robot fish, for more complex and unknown environment for the environment。

Key words: underwater biomimetic robot fish, STC89C51; exercise program, functional program

目  录

第一章 绪论 1

1。1  仿生机器鱼的概述 1

1。2  仿生机器鱼的分类和组成