华中科技大学学报（自然科学版）Issue(z1)：408-411,4.DOI:10.13245/j.hust.15S1097
模块化仿生波动长鳍水下推进器的设计与实现
Design and implementation of a biomimetic underwater propeller with a undulating long fin
摘要
Abstract
The major research results in areas of propulsion of biomimetic undulating fins were sum-marized.For its shortcomings,a modular underwater propeller with an undulating fin was designed. The propeller was composed of a main body and a flexible long fin mounted on the bottom of the main body.The long fin consists of twelve fin rays which were connected to one another by a flexible mem-brane made of thin rubber.Based on the mechanism and the control system that would be showed,a prototype of the propeller was fabricated.The motion parameters including oscillating frequency,os-cillating amplitude,number of waves and propagating direction of wave on the long fin can be inde-pendently controlled in real time with a program in upper computer.Experiments conducted on the prototype validates the feasibility and stability of the mechanism and control system of the propeller.关键词
仿生/机器鱼/波动鳍/运动学建模/运动控制/推进器Key words
biomimetics/robotic fish/undulating fin/kinematic models/motion control/propeller分类
信息技术与安全科学引用本文复制引用
王睿,王硕..模块化仿生波动长鳍水下推进器的设计与实现[J].华中科技大学学报（自然科学版）,2015,(z1):408-411,4.基金项目
国家自然科学基金资助项目（51175496，61421004，61333016）；北京市自然科学基金资助项目（3141002）． （）
