三关节仿生机器鱼的设计与验证

为提高推进模式机器仿生鱼的游动效率，以鲨鱼为仿生对象，设计一种三关节仿生机器鱼平台。依据鯵 科鱼类游动机理，采用大扭矩舵机模拟鲨鱼的摆动，通过CPG 的控制算法实现机器鱼在不同速度档位的游动、转弯 等动作，通过PID 算法实现了机器鱼的定向巡航游动，并对机器鱼样机进行测试验证。测试结果表明，该设计可为 三关节仿生机器鱼设计提供参考。

Design and Development of Three-joint Bionic Robot Fish

In order to improve the swimming efficiency of the robot fish in the propulsion mode, a 3-joint bionic robot fish platform was designed with shark as the bionic object. According to the swimming mechanism of the carangidae, the large-torque steering gear is used to simulate the swing of the shark. The CPG control algorithm is used to realize the movement, turning and other movements of the robot fish in different speed positions. The directional cruise of the robot fish is realized by the PID algorithm. Carry out test on robot fish prototype. The test results show that the design can provide reference for the design of the 3-joint bionic robot fish.