新型两关节机器鱼的研制及实验研究  

Development and experiment of new two-joint robot fish

作　　者：刘英想[1] 刘军考[1] 陈维山[1] 陈思[1] 

机构地区：[1]哈尔滨工业大学,哈尔滨150001

出　　处：《船舶工程》2008年第4期28-31,共4页Ship Engineering

基　　金：国家自然科学基金资助项目(59705011)

摘　　要：以鲹科加新月形尾鳍推进模式鱼类的仿生学研究成果为基础,采用模块化设计思想,设计了新型两关节仿生机器鱼"HRF-II",其尾部模块采用单电机驱动,易于实现尾部运动参数的调整;其升潜模块采用吸排水实现机器鱼升潜.对仿生机器鱼直线推进、转向、升潜和逆向游动的动作进行了水下实验.实验结果表明"HRF-II"具备良好的推进特性和升潜特性,并且实现了逆向游动.Based on the bionic research of the thunniform mode fish, the new two-joint bionic robot fish ＂HRF-II＂ is designed by modularization, lts tail module is driven by a single electric motor and easy to realize the adjustment of the moving parameters of the tail. The lifting module uses absorbing and draining water to realize the up and down movement of the robot fish. The forward swimming, swerve, the up and down movement and the backward swimming of the robot fish ＂HRF-II＂ are carried on in the under-water experiment. The experimental result shows that the ＂HRF- II＂has preferable capacity in forward swimming and the up and down swimming, and it accomplishes the backward swimming.

关 键 词：机器鱼 本体设计 水下实验 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]