基于柔性长鳍波动推进的仿生水下机器人设计与实现

以基于柔性长鳍波动推进的仿生水下机器人试验模型为背景，主要研究其设计与实现问题．首先，介绍了仿生水下机器人试验模型的设计原则及其系统总体结构，然后重点研究了仿生柔性长鳍、主控模块与通讯系统、运动控制子系统的设计方法、系统构成和工作原理，最后介绍了试验模型的系统测试与航行试验结果及其结论，并指出了仿生水下机器人试验模型的改进重点和柔性长鳍波动推进技术今后的研究方向．基于柔性长鳍波动推进的仿生水下机器人试验模型的研制成功，初步验证了柔性长鳍波动推进方式应用于水下机器人推进控制系统在原理上和技术上是可行的．

Design and Realization of a Bionic Underwater Vehicle Propelled by Undulation of a Long Flexible Fin

This paper mainly discusses the design and realization of the test model for a bionic underwater vehicle, which is propelled by undulations of a long flexible fin. Firstly, design principles and architecture of the test model are briefly introduced. Then we focus on the design method, the components and the operational procedure of the bionic long flexible fin, the control and communication module, as well as the motion control subsystem. Finally, some conclusions are drawn from the test data and experimental results of the test model, and the necessities to improvments and further research are also proposed. Realization of this test model verifies that propulsion by undulations of a long flexible fin may be effectively applied to the propulsion control system of underwater vehicles from the view of principles and technologies.