仿生机器鱼的运动学参数及实验研究

研究了尾鳍运动参数对推进速度的影响，进行了2关节仿生机器鱼与单关节尾鳍摆动式水下推进器的对比实验，给出了实验结果。实验结果表明2关节仿生机器鱼比单关节尾鳍摆动式水下推进器在相同实验条件下具有更高的推进速度。该仿生机器鱼可以实现对水下运动装置的推进，并且具有噪声低、对环境扰动小等特点。

Experimental Study on a Two-Joint Robotic Fish

A prototype of robotic fish with two- joint was constructed, and the robotic fish has two freedoms of degree. Several experiments were completed out to study the effect of fin's motion parameters on propulsion velocity. Some contrastive experiments were carried out to study the difference between the two-joint robotic fish and one joint oscillating caudal fin propulsor. The experimental results indicate the prototype of the robotic fish can propel the robot. Besides, its features include low noise and turbulence.