中文摘要：

深入开展鱼游等生物运动力学机理的研究对日益增长的仿生技术需求具有重要的意义．为此，该文以某型仿生鱼自主游动为研究对象，基于浸入边界法的流固耦合建模思想，以鱼体肌肉提供的主动力为原动，建立了鱼体内力、鱼体运动和外界流体耦合作用的自主游动柔性鱼模型．分别对不同长度尾鳍、不同弹性模量鱼体以及鱼肌肉提供不同作用力下仿生鱼的自主直线巡游进行了数值模拟．分析了鱼自主游动的水动力学特征和鱼体运动特征，揭示了影响鱼游动速度的关键因素及其力学机理．

英文摘要：

Study on the kinetic ＆ kinematic mechanisms of fish-like swimming is of cardinal sig- nificance for increasing needs of bionic technologies. Therefore, an auto-swimming robotic fish model was established with a flexible body and muscular serf-propelling force, involving the in- teractions between fish-body internal forces, fish-body motions and surrounding fluid dynamics. Then, respectively, the effects of different-length tail fins, different tail elasticities and different muscular serf-propelling force densities on the robotic fish＇ s straight-line auto-swimming state were numerically simulated respectively. The hydrodynamics and kinematics of the auto-swim- ming robotic fish are analysed to reveal the key factors on the cruising velocity and clarify the related mechanisms. The key factors influence on swimming efficiency is shown by analysis of hydrodynamic performance.