中文摘要：

提出一种用于仿生机器鱼的新型尾部推进机构,该机构主要由双斜面偏转关节构成,可通过调节推进机构的2个驱动电机耦合转动来完成其两自由度偏摆运动。首先,阐明了该两自由度耦合偏摆关节的运动学机理,并通过ADAMS运动仿真,验证了其应用于机器鱼上实现直线游动的可行性。然后,建立了仿生机器鱼的直线巡游控制策略,并采用无人机航拍在户外水塘中进行了直线游动实验。水下实验测试结果表明,该仿生机器鱼可实现速度可控的直线巡游,最大速度为0.69m/s。与现有结果相比,基于双斜面偏转关节的仿生推进机构可为机器鱼设计提供新的参考。

英文摘要：

This paper presents a novel tail propulsion mechanism for bionic robotic fish, which is mainly composed of a dual - bevel deflection joint. The two drive motor couplings of the propulsion mechanism are adjusted to achieve the two- DOF （degree of freedom） yawing motion. Firstly, the kinematics mechanism of the yawing was expounded, and by the motion simulation with ADAMS, the feasibility of applying the joint in robotic fish to achieve straight swimming was verified. Secondly, the control strategy for straight swimming of the bionic robotic fish was designed, and UAV （unmanned aerial vehicle） was used to photograph the straight swimming experiment in the outdoor pound. The underwater experimental results show that the bionic robotic fish can achieve a speed- controlled linear cruise with a maximum speed of 0.69 m/s. Compared with the existing results, the bionic propulsion mechanism based on dual - bevel deflection joint provides new references for the robotic fish design.