【摘要】 水下装备在海洋探测、生物研究和水下救援等领域具有广阔的应用前景。针对现有水下装备存在的噪声大、结构复杂等问题，设计一种模仿蝠鲼运动的气压驱动的仿生机器鱼。首先，设计一种开口板结构，用于构建胸鳍部分；其次，设计一种线性伸缩的气动波纹管结构，用于提供驱动力；最后，集成设计的结构，研制机器鱼原理样机，并开展水中游动实验。实验结果表明，该仿生机器鱼具有良好的运动能力，验证了该方案的可行性。更多还原

【Abstract】 Underwater equipment holds promising application prospects in various fields, including marine exploration, biological research, and underwater rescue operations. Given the challenges of high noise levels and complex structures prevalent in current underwater devices, this paper presents a bionic robotic fish driven by pneumatic pressure, mimicking the motion patterns of manta rays. First, an open plate structure was designed for constructing the pectoral fin section. Second, a linear telescopic pneumatic bellows structure was designed to provide actuation. Finally, these components were integrated to fabricate a prototype of the robotic fish, followed by conducting swimming experiments in water. The experimental results demonstrate that the bionic robotic fish exhibits excellent mobility, thereby validating the feasibility of the proposed design.更多还原