一种基于多自由度鱼尾的仿生机器鱼设计

Design of Bionic Robot Fish Based on Multi-Degree of Freedom Fish Tail

针对传统的水下机器人运动效率低、水下作业时产生的噪声污染会影响鱼群生活环境、隐蔽性差容易被雷达探测识别,而大多数仿生鱼尾部摆动模式不够灵活、环境适应性差的问题,提出了一种基于多自由度鱼尾的仿生机器鱼的结构方案。该鱼尾能够产生横向和纵向两个方向的运动矢量,尾部能够进行更加灵活的摆动。对机器鱼尾部结构进行了实验,实验结果表明:在横向上驱动线变化量为50 mm时达到最大摆角116°,纵向上驱动线变化量在46 mm时达到纵向最大摆角61°。

The low movement efficiency of traditional underwater vehicles and the noise pollution caused by underwater operations will affect the living environment of fish schools,and the poor concealment is easy to be detected by radar,while the tail swing patterns of most bionic fish are not flexible enough and have poor environmental adaptability.In order to solve the above problems,a structure scheme of bionic robot fish based on multi-degree-of-freedom tail is proposed.The fish tail can generate motion vectors in both horizontal and longitudinal directions,and the tail can swing more flexibly.In addition,the tail structure of robotic fish was tested.The experimental results show that the maximum swing angle reaches 116°when the variation of drive line is 50mm in transverse direction and 61°in longitudinal direction when the variation of drive line is 46mm.