A mechanical design method of mbet fish is introduced in this paper. Based on this method, an autonomous 3-Dimension （3D） locomotion mbet fish with two pectoral fins and a caudal fin is developed. The pectoral fin m...A mechanical design method of mbet fish is introduced in this paper. Based on this method, an autonomous 3-Dimension （3D） locomotion mbet fish with two pectoral fins and a caudal fin is developed. The pectoral fin mechanism has 3 degrees of freedom （3-DOFs）, which enables the mbet fish to realize yawing and pitching motions by controlling two pectoral fins. And the eandal fin mechanism is designed based on fish body wave curve fitting. The forward velocity can be adjusted by changing the eandal mechanism＇ s oscillating frequency. Finally a physical implementation of the robot fish and experimental results are given.展开更多
基金Supported by the National Natural Science Foundation of China （No. 50475179） and the National High Technology, Research and Development Program of China （No. 2006AAllz225）.
文摘A mechanical design method of mbet fish is introduced in this paper. Based on this method, an autonomous 3-Dimension （3D） locomotion mbet fish with two pectoral fins and a caudal fin is developed. The pectoral fin mechanism has 3 degrees of freedom （3-DOFs）, which enables the mbet fish to realize yawing and pitching motions by controlling two pectoral fins. And the eandal fin mechanism is designed based on fish body wave curve fitting. The forward velocity can be adjusted by changing the eandal mechanism＇ s oscillating frequency. Finally a physical implementation of the robot fish and experimental results are given.
