中文摘要：

在深入分析咽颌运动模式鱼类胸鳍的肌肉和骨骼结构以及神经肌肉控制机理的基础上,采用欠驱动技术设计了一套新型的胸鳍仿生机构,介绍了此仿生机构各部分的结构、功能及参数.然后,为此胸鳍仿生机构设计了一套基于CAN总线的分布式实时测控系统,并详细分析了其软硬件的结构和功能.最后,建立了胸鳍仿生系统的样机,并通过试验验证了本文建立的胸鳍仿生系统在模拟鱼类胸鳍推进运动方面的可行性和有效性.

英文摘要：

Based on the analysis of the muscle and skeleton structure as well as the neuromuscular control mechanism of labriform pectoral fin,a new under-actuated bionic pectoral fin is designed,and the structure,function and parameters of this bionic pectoral fin are described.Then,a distributed real-time measurement and control system is designed for this device based on CAN（controller area network） bus.Meanwhile,the structure and function of hardware and software of this system are analyzed in detail.At last,a prototype of bionic system of pectoral fin is manufactured,and the feasibility and validity of this new bionic system of pectoral fin are proven by experiment in simulating the propulsion motion of real pectoral fin.