【摘要】 为提高身体/尾鳍(BCF)推进模式机器鱼的游速，设计了一种两关节机器鱼，研究尾鳍击水动作对游速的影响。对其进行了运动学仿真和直游实验，结果表明，游速与尾鳍摆动频率呈线性关系，与摆动幅度呈二次相关。此外，在直游实验中观察到鱼体出现大幅度摆动，导致游速下降，通过增大鱼体质量，可有效抑制这种不稳定摆动，使机器鱼游速提高10%左右。更多还原

【Abstract】 In order to enhance the cruising speed of body and/or caudal fin(BCF) of the robotic fish, a two-joint robotic fish is designed to investigate the effect of aft fin striking water on swimming velocity. Kinematics simulation and direct swimming experiment are carried out. The result illustrates that the swimming speed has a linear relationship with the frequency of tail swing and a secondary correlation with the oscillating amplitude. In addition, the fish body swings greatly in the direct swimming experiment results in a decrease in speed. By increasing the body mass of the fish, this unstable swing can be effectively suppressed, and the swimming speed of the robot fish can be increased by about 10%.更多还原