Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, Anhui 230027, People's Republic of China. Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong, People's Republic of China.
Bioinspir Biomim. 2018 Mar 27;13(3):036007. doi: 10.1088/1748-3190/aaa9cc.
This paper presents the development of a biomimetic robotic fish that uses an integrated oscillation and jet propulsive mechanism to enable good swimming performance for small robotic fish. The designed robotic fish is driven by two caudal fins that flap oppositely, which are equipped in parallel at the fish tail. The propulsive mechanism of dual caudal fins is characterized by using numerical analysis, in which the distance between the two caudal fins is a key factor to the integrated mechanism and plays an important role to swimming performance. This finding has been further verified by experiments performed on a miniature robotic fish prototype with 100 mm length and 30 mm diameter. Experimental results have demonstrated the influence of the distance between the two caudal fins to swimming performance. The designed miniature robotic fish can swim stably and efficiently while exhibiting good motion maneuverability such as turning and braking. The developed robotic fish, with advantages of excellent swimming performance and small size, can be potentially used for monitoring and exploration in the underwater environment.
本文提出了一种使用集成振荡和射流推进机制的仿生机器鱼的开发，该机制能够使小型机器鱼具有良好的游泳性能。设计的机器鱼由两个对向拍打尾鳍驱动，它们平行安装在鱼尾处。双尾鳍的推进机制的特点是使用数值分析，其中两个尾鳍之间的距离是集成机制的关键因素，对游泳性能起着重要作用。这一发现已通过对长 100mm、直径 30mm 的微型机器鱼原型进行的实验得到进一步验证。实验结果表明了两个尾鳍之间的距离对游泳性能的影响。设计的微型机器鱼可以稳定高效地游泳，同时表现出良好的运动机动性，如转弯和制动。开发的机器鱼具有出色的游泳性能和小巧的尺寸，可用于水下环境的监测和探索。
