摘要近些年来，对于仿生机器鱼的研究已经逐渐成为了一个热点。相比于其他传统的水下机器人，仿生机器鱼仿照鱼类的特征，在前进时拥有游速高，效率高，性能优秀，噪声低等特点，这些特点使机器鱼在实际应用中拥有得天独厚的优势，其发展潜力巨大。机器鱼是一项结合了许多不同科学领域的研究项目，其中包括数学、仿生学、水动力学、控制理论、计算机科学、机械学、传感器技术、材料学等。本篇论文首先对机器鱼研究现状进行简单的叙述和分析，然后在此基础上，对机器鱼的运动和控制进行了研究。86160

本文总共分为以下几个部分：

第一部分，简述了目前对机器鱼研究的国内外现状及研究意义，同时还提出了在机器鱼研究中出现的几个技术难点。

第二部分介绍了几种典型的机器鱼尾摆驱动机构。在这些机构的基础上，设计出了本次设计使用的并联双摇杆五杆机构。随后对该机构的运动原理进行说明并进行了运动学分析的介绍。

第三部分首先对机械结构优化设计进行说明。随后根据优化设计中目标函数、约束条件、已知条件和优化结果这几个要素，对五杆驱动机构的杆长进行优化设计，防止在机构摆动过程中出现杆与杆之间的干涉。

第四部分主要讲述机器鱼尾鳍摆动推进机构的控制系统设计，分别从硬件和软件两个方面进行介绍，最终实现机器鱼在水中游动的动作。

毕业论文关键词：仿生机器鱼；尾鳍；结构优化；控制系统

Abstract   In recent years, the research of bionic robot fish has gradually become a hot spot。 Compared to other traditional underwater robots, bionic robot fish imitates the characteristics of fish。 It has many characteristics such as high speed, high efficiency, excellent performance, low noise and so on。 These characteristics make the robot fish has a unique advantage in the practical application。 Robot fish is a combination of many research projects in different fields of Science, including mathematics, bionics, water dynamics, control theory, computer science, mechanics, sensor technology, materials science and so on。 In this paper, we first briefly describe and analyze the present situation of the research on the robot fish, and then, we study the movement and control of the robot fish。

This paper is pided into the following sections:

In the first part, it briefly introduces the present situation and research significance of the research on the machine fish at home and abroad, and puts forward some technical difficulties in the research of the robot fish。

The second part introduces several typical tail swing driving mechanism。 On the basis of these mechanisms, the design of parallel double rocker five bar mechanism is designed。 Then the principle of the mechanism is described and the kinematics analysis is introduced。

In the third part, the optimal design of mechanical structure is explained in the first part。 Subsequently according to the optimization design of objective function, constraint condition and known conditions and optimization results of these elements, of five bar drive mechanism of rod length optimization design to prevent interference between the rod and the rod in the swing mechanism in the process。

    The fourth part mainly tells the machine tail fin oscillating propulsion mechanism of control system design, respectively from two aspects of hardware and software are introduced, finally realizes the machine fish in swimming movements。

Keyword: bionic robot fish; caudal fin; structure optimization; control system。

目  录

第一章 绪论 1

1。1 引言