BCF仿生鱼游动机理的研究进展及关键技术分析.pdfVIP

第 51 卷第 16 期 机 械 工 程 学 报 Vol.51 No.16 2 0 1 5 年 8 月 JOURNAL OF MECHANICAL ENGINEERING Aug. 2 0 1 5 DOI ：10.3901/JME.2015.16.177 BCF 仿生鱼游动机理的研究进展及关键技术分析* 崔 祚 姜洪洲 何景峰 佟志忠 (哈尔滨工业大学机电工程学院 哈尔滨 150001) 摘要：目前，仿生学者已经注意到身体/尾鳍摆动(Body and/or caudal fin，BCF)鱼类快速、高效的游动性能并制作多种基于生 物原型的仿生机器鱼，但是，所研制的机器鱼样机性能与鱼类性能存在着较大的差距，这又进一步地促进了柔性鱼类快速高 效游动机理的研究。从柔性鱼体游动过程中的机械特性和流场特性两方面出发，介绍国内外在 BCF 柔性鱼类游动机理方面 的主要研究进展，重点讨论鱼类游动机理的变阻抗驱动和涡流控制两项关键技术。通过对鱼类游动机理研究成果的分析和总 结，探讨柔性机器鱼研究的发展趋势。总的来说，随着 BCF 柔性鱼类游动机理研究的不断深入，仿生学科的交叉理论研究 将得到进一步发展，仿生机器鱼与生物原型之间游动性能的差距也必将逐渐缩小，实际应用前景较为广阔。 关键词：身体/尾鳍摆动鱼类；游动机理；变阻抗特性；流体动力学特性 中图分类号：TG124 Research Development and Key Techniques of BCF Robotic Fish in Locomotion Mechanism CUI Zuo JIANG Hongzhou HE Jingfeng TONG Zhizhong (School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001) Abstract ：The outstanding characteristics of body and/or caudal fin(BCF) fish, such as the fast speed and high efficiency, have currently attracted the interests of the bionic researches, and some robotic fish have also been constructed. However, there is a huge gap between the biological fish and the fish robot in the swimming performances, which have further propelled the mechanism study of fish locomotion. In particular, research status at home and abroad field are systematically summarized through the mechanical properties and the hydrodynamic properties. Accordingly, the key techniques in BCF robotic fish, the variable impedance actuation and the eddy current control are discussed in detail. And the developing tendencies of the related research in compliant robot fish are also presented. Overall, the theories of bionic inter-disciplines will be further developed along