中文摘要：

从咽颌运动模式鱼类胸鳍的骨骼结构和神经肌肉控制机理出发,充分发挥导边鳍条和后缘边鳍条的引导作用,设计一套新型的柔性仿生胸鳍,建立此仿生胸鳍的样机及其运动学和动力学模型.并对仿生胸鳍的推进运动进行了仿真分析和试验研究.将上述仿生胸鳍推进运动的仿真结果、试验结果以及实际胸鳍推进运动的观测结果进行了比较研究可以看出,所建立的仿生胸鳍数学模型是合理、有效的,能够较好地仿真仿生胸鳍的推进运动,同时从中也可以看出,所建立的胸鳍仿生机构能够较好地模拟鱼类胸鳍的推进运动.

英文摘要：

Aiming at the skeleton structure and neuromuscular control mechanism of pectoral fin of labriform fish, a new flexible bionic pectoral fin which fully utilized the pull of the leading edge ray and the trailing edge ray is designed. The prototype of the bionic pectoral fin is made while its kinematic and dynamic models are built. The propulsion motion of pectoral fin is analyzed by simulation and experiment. According to the result of compare between the result of simulation and experiment and the observation result of propulsion motion of real pectoral fin, the established mathematical model of bionic pectoral fin is reasonable and effective, which can better simulate the propulsion motion of bionic pectoral fin. And it can also be concluded that the established bionic device can imitate the fish propulsion motion well.