• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2016, Vol. 52 ›› Issue (17): 137-146.doi: 10.3901/JME.2016.17.137

• 机构学及机器人 • 上一篇    下一篇


王安忆, 刘贵杰, 王新宝, 付碧波   

  1. 中国海洋大学工程学院 青岛 266100
  • 出版日期:2016-09-05 发布日期:2016-09-05
  • 作者简介:王安忆,女, 1991年出生。主要研究方向为仿生水下机器人。




  • 基金资助:
    * 国家自然科学基金(61540010)、山东省科技攻关(2014GH Y115032)和青岛市民生科技计划(14-2-3-63-nsh)资助项目; 20150928收到初稿,20160714收到修改稿;

Development and Analysis of Body and/or Caudal Fin Biomimetic Robot Fish

WANG Anyi, LIU Guijie, WANG Xinbao, FU Bibo   

  1. College of Engineering, Ocean University of China, Qingdao 266100
  • Online:2016-09-05 Published:2016-09-05


随着海洋资源越来越受到国家重视,水下机器人已成为科研的热点。仿生机器鱼作为水下机器人,具有低噪声、对环境扰动小等特点。身体/尾鳍推进模式(Body and/or caudal fin, BCF)仿生机器鱼是指以身体/尾鳍推进模式推进的仿生机器鱼,它具有高速、高效、机动性高等优势,是近年来仿生机器鱼研制的重点。随着1994年首条仿生机器鱼的研制成功,许多优秀的相关研制成果已应用到水下考古、水质监测、污染检测等领域。基于此,介绍BCF鱼类的分类及特点、BCF生物鱼以及仿生鱼的推进机理,并着重介绍国内外BCF仿生样机的研制进展,对已有样机的驱动方式、机械结构和游动性能进行详细分析,揭示不同驱动方式所面临的技术问题,在此基础上总结BCF仿生机器鱼的发展趋势和应用前景。

关键词: 仿生机器鱼, 推进机理, 现状, 身体/尾鳍推进模式


As the country attaches great importance to ocean resources, the underwater robot has become a focus in research. As a kind of underwater robot, biomimetic robot fish is characterized by low-noise, casy-hide, etc. The body and/or caudal fin (BCF) biomimetic robot fish, which is propelled by body and/or caudal fin, has the advantages of high-speed, high-efficiency and good-maneuverability, has aroused general research interest in recent years. With the successful manufacture of the first robot fish in 1994, numerous excellent robotic fish have been applied to the fields of underwater archaeology, water quality monitoring and pollution detection. The categories and characters of BCF fish, the propulsive mechanism of the BCF fish and biomimetic fish, the research development of robotic fish fabrication China and abroad are introduced. The swimming drive, mechanical structure and performance of the works presented are analyzed and the technical problem faced by every driving mode is revealed. Based on the former research, the tendency and application prospect of the BCF biomimetic robot fish are summarized.

Key words: biomimetic robot fish, current situation, propulsive mechanism, body and/or caudal fin