【摘要】 针对现有水下仿生推进机构结构复杂、运动生硬、柔性不足、效率较低的问题，本文提出了一种新型鱼尾结构，通过弹性板的连续变形来模拟鱼尾的体干波曲线，差动驱动产生鱼尾往复摆动。该构型由两个变截面弹性板和尾鳍刚性平台组成，通过双侧直线驱动产生大尺度变形，在机构的末端产生类似于真实鱼类尾鳍的运动。针对该方案建立运动静力模型，用于模拟和计算不同驱动输入下尾部的位姿和驱动力，采用主轴分解法建立的协调连续变形模型，将弹性梁大变形问题转化串联机构静力学问题，进而通过梯度迭代法可以快速而准确地对运动静力模型进行求解。解析模型的建立为连续变形柔性鱼尾的运动控制提供了依据，实验验证了该方法的可行性。更多还原

【Abstract】 In response to the existing issues of complex structure, rigid motion, insufficient flexibility and low efficiency in underwater biomimetic propulsion mechanisms, this paper proposes a novel fish tail structure. It simulates the body wave curve of a fish tail through the continuous deformation of elastic plates and generates reciprocating tail movement through differential driving. The configuration consists of two variable cross-section elastic plates and a rigid tail fin platform, producing large-scale deformation through bilateral linear driving, resulting in motion resembling that of a real fish caudal fin at the end of the mechanism. A motion-static model is established for this design to simulate and calculate the posture and driving force of the tail under different driving inputs. A coordinated continuous deformation model, established using the principal-axis decomposition method, transforms the problem of significant deformation in elastic beams into a statics problem of tandem mechanism. Subsequently, the gradient iteration method is applied for rapid and accurate solutions to the motion-static model. The analytical model provides a basis for the motion control of continuous deformation flexible fish tails, and experimental validation confirms the feasibility of this configuration.更多还原