单柔性长鳍渡动仿生推进器的设计与实现

单柔性长鳍波动仿生推进器是一种模拟鱼类“尼罗河魔鬼”的长背鳍波动推进方式而设计的新型水下仿生推进装置。本文首先给出了波动仿生推进器的设计目标和总体设计思路，然后对柔性长鳍、机械结构、控制系统、致动器等进行了详细设计。最后，对系统进行了机械可靠性和密封性测试、电气联调、以及水池试验，并给出了相关的试验结果。研究结果表明系统的机械结构和密封特性满足设计要求，控制和传感系统工作稳定可靠。此外，水池试验结果也验证了柔性长鳍波动推进机理研究的相关结论。

Design and Implementation of Undulatory Bionics Propeller Based on Single Flexible Fin

The undulatory bionlic propeller is a new underwater propeller which imitates the undulatory dorsal fin of Uymnarchus Niloticus. The goal and the general idea of this system were put forward. The sub-systems composed of flexible fin, mechanism, control system, actuator were designed in de?tail. The tests of reliability and sealing property, the electric debug, and the pool experiment were car?ried out, as well as some experimental results were given. The investigated results indicate that the mechanism and the sealing property meet demands of the design; the control and sense systems are sta?ble and reliable; the related conclusions of undulatory propellant theory of the flexible fin are valid.