Research of MCU-based robot fish with caudal fin

This paper designs a MCU-based robot fish with caudal fin in order to model the robot fish and verify the related control methods. Firstly, this paper presents an overall design according to the functions required and then chooses the ideal servo motor after calculating its parameters based on the amplitude and frequency of the sine law. In addition, the controller, the inertial navigation model, the wireless communication model, the power supply, the electric circuit and the shell is designed and implemented considering of the limitation of the speed, interface, and cost and so on. In the software design, this paper solves the problem that the MCU is inefficient on the calculation of the float with the method of looking up the sine table, so that the SPWM wave drives the servo motor smoothly. With the program of IIC and SPI bus on the MCU and the control program based on Labview on PC, this paper realizes the wireless communication between the robot fish and PC, making the data collection and remote control possible. In the last, the robot fish is tested.