中文摘要：

无缆驱动机器鱼是通过改变交变磁场的驱动频率，驱动嵌入机器鱼头部的NdFeB磁驱动器，将交变磁场能转换为机器鱼头部摆动的机械能，带动铜薄膜尾鳍产生波动并与液体耦合产生推力，在建立了悬臂梁结构变截面薄膜受迫振动动态模型和机器鱼推力模型的基础上，基于等面积条件，采用离散变量法对尾鳍的形状进行了优化，并结合有限元软件校验尾鳍根部强度，确定了最佳尾鳍形状．试验证明了该结构优化方法的正确性。

英文摘要：

A robotic fish without power supply cable was developed. It drives the NdFeB magnetic driver embedded in the head of fish by changing the driving frequency of alternative magnetic field. Then the alternative magnetic field is transformed into the mechanical energy that shakes the head of fish, hence causing the tail fin made of copper film to generate propulsion because of coupling effects between the vibrating tail fin and the liquid. For the ro- botic fish, we established a forced vibration model of cantilever made up of variable cross-sectional film and a pro- pulsion model of robotic fish. Then discrete variable method was used to optimize the tail fin under precondition of equal area. The strength at the end of caudal fin was checked with finite element method. The optimal shape of the fin was determined. Experiments prove the effectiveness of this method.