中文摘要：

针对目前国内外在仿生波动鳍推进装置方面研究的不足,提出了一种模块化波动鳍推进器设计方案.该系统由圆筒形腔体和长鳍组成,长鳍上包含有12根鳍条,并通过柔性薄膜连接.在长鳍波动运动学分析基础上设计了其控制系统和运动控制策略,研制原理样机实现了对长鳍上鳍面波频率、幅值、偏置角、波长、传播方向的实时控制.实验结果表明:研制的波动鳍推进器通过调整参数能实现各种波形的运动,水下实验表明波动鳍推进器能稳定地在水中游动.

英文摘要：

The major research results in areas of propulsion of biomimetic undulating fins were sum-marized.For its shortcomings,a modular underwater propeller with an undulating fin was designed. The propeller was composed of a main body and a flexible long fin mounted on the bottom of the main body.The long fin consists of twelve fin rays which were connected to one another by a flexible mem-brane made of thin rubber.Based on the mechanism and the control system that would be showed,a prototype of the propeller was fabricated.The motion parameters including oscillating frequency,os-cillating amplitude,number of waves and propagating direction of wave on the long fin can be inde-pendently controlled in real time with a program in upper computer.Experiments conducted on the prototype validates the feasibility and stability of the mechanism and control system of the propeller.