中文摘要：

根据仿生学原理，采用超磁致伸缩薄膜驱动器模仿鱼类的波状推进方式，可以实现机器人的无缆驱动，并能显著提高机器人的可靠性与实用性。为了提高推进力，进而提高驱动效率，实现机器人尾鳍形状优化是关键。基于等面积条件，优选了几种薄膜尾鳍形状。在建立悬臂梁结构变断面超磁致伸缩薄膜受迫振动动态模型和机器人推力模型的基础上，对不同形状薄膜尾鳍的推力进行了仿真验证，得出了最佳尾鳍形状曲线，并用有限元法分析了薄膜驱动器的应力分布。最后通过试验验证了薄膜驱动器的推进效果。

英文摘要：

According to bionic principle, a fish-like swimming micro robot using giant magnetostrictive thin film actuator as a propulsion caudal fin can improve its reliability and feasibility in the way of non-contact control. As the configuration optimization of caudal fin is the key to modify its propulsive force and drive efficiency of the robot, several kinds of selected caudal fin configurations are selected in the condition of equal caudal area and length. Then their propulsive force is validated by simulation based on established force oscillation dynamic model of GFM in variable cross section area cantilever structures and propulsive models of micro robot in the liquid. As a result an optimal configuration caudal fin is selected, and the stress distribution of inside caudal fin is analyzed by the finite element method. Finally the experimental result validates that the caudal fm as selected configuration can generate more thrust force and better efficiency.