【摘要】 为了使机器鱼能够潜入更深的海洋，设计了一种仿生鱼深海探测机器人的机械结构，首次提出了“多室水肺”这一概念。基于参考现有的鱼类模型受力等实验的研究成果以及机械原理的设计指导，通过对鱼的运动方式以及各部位作用的分析，从构件层次上提出了一种新的机器鱼骨架、背鳍、胸鳍、尾鳍以及内腔的机械结构，阐述了这些机械结构更加优化的原因以及其运行方式。同时根据现有的研究成果对材料选用、控制方式以及电子器件的放置提出了见解。更多还原

【Abstract】 In order to make the robot fish dive into the deeper ocean, the mechanical structure of a bionic fish deep-sea exploration robot is designed, and the concept of "multiple lungs" is put forward for the first time.Based on the research results of existing fish model stress experiments and the design guidance of mechanical principles, a new mechanical structure of the skeleton, dorsal fin, pectoral fin, caudal fin and inner cavity of robot fish is put forward from the component level by analyzing the movement mode of fish and the functions of each part, and the reasons for these mechanical structures being more optimized and their operation modes are expounded. At the same time, according to the existing research results, some opinions are presented on material selection, control methods and the placement of electronic devices.更多还原