3自由度仿生机器鱼尾鳍试验装置

Experimental device on tail fin of three degree of freedom bio-robotic fish

3自由度仿生机器鱼尾鳍试验装置是专门用于模拟、演示3自由度仿生机器鱼尾鳍运动姿态和测量尾鳍力能参数的装置。针对工作环境和设计要求,综合运用生物仿生学、机器人学、机构学、工程力学及数控技术等理论和技术,探讨了3自由度仿生机器鱼尾鳍试验装置的原理及设计方法。该试验装置为各种形式仿生机器鱼的研制开发提供了一个模拟运动状态和测量力能参数的试验平台,对仿生机器鱼技术的研究具有重要意义。

The tail fin experimental device of three degree of freedom bio-robotic fish was a device specially applied to simulate and demonstrate the motion posture of tail fin of the three degree of freedom bio-robotic fish and to measure the strength parameters of tail fin. Directed against the working circumstance and the desig- ning requirements, and the synthetic application on theorem and technology of biology bionics, robotics, mechanism, engineering mechanics and numeric control technology etc. , the principle and designing method of the experimental device for the tail fin of the three degree of freedom bio-robotic fish were discussed. This experimental device provided a test platform of the motion status and the strength parameters for the manufacture and development of various formed bio-robotic fish, and possesses important significance for the study of technology of bio-robotic fish.