基于波浪能获取的多关节仿生机器鱼能源自给系统

为解决仿生机器鱼水下长期服役的能源瓶颈问题，提出利用波浪能摆动关节来发电的多关节仿生机器 鱼能源自给系统．根据随机波浪理论分析了海浪的频谱特性和获能潜力，设计了利用关节摆动发电的能源获取系 统，并建立该系统的机电模型．最后，通过仿真模拟和单关节摆动发电试验验证了该方法的可行性，为仿生机器鱼 水下长期服役的能源自给系统设计提供了参考．

Self-Powered System of Articulated Bionic Robotic Fish Using Wave Energy Harvesting

A self-powered system of the multi-joint bionic robotic fish using wave energy to generate power by joint swing is presented to solve the energy bottleneck problem for the long-term underwater service. The frequency characteristics and energy harvesting potential of wave are analyzed according to the random wave theory. An energy harvesting system generating power by joint swing is designed, and its electromechanical model is developed. Finally, simulation and single joint swing based power generation experiment indicate that this method is effective and applicable to designing self-powered system for long-term underwater service of bionic robotic fishes.