仿生机器鱼胸鳍驱动机构设计

摘要

设计了一种二自由度的胸鳍驱动机构。该机构采用连杆机构和齿轮机构分别实现仿生机器鱼的前后拍翼运动和摇翼运动，具有运动形式简单、效率高、可靠性好的特点。对驱动机构进行了运动学分析，建立了驱动机构的数学模型。仿生机器鱼通过两侧胸鳍配合，可以实现仿生机器鱼前进、后退、转弯等基本运动，为仿生机器鱼的设计提供了一套切实可行的方案。%This paper proposes a propulsion mechanism for bionic robotic fish with two degrees of freedom pectoral fin.In this design,the lead -lag motion and feathering motion are respectively achieved by linkage mechanism and gear mechanism.The movement characteristics of this mechanism are simple and efficient with good reliability.Its mathematical model is obtained through the analysis of the propulsion mechanism of kinematics.Bionic robotic fish can achieve basic movement such as forward,backward and turn by both sides of the pectoral fins.A feasible solu-tion is provides for the design of a bionic robotic fish.