摘要本论文介绍了新时代里的新型水下推进器机械鱼的简单设计，在21世纪里机器人的技术突飞猛进，使水下机器人的发展成为可能并且已经成功吸引了各个领域精英的重视。完全可以想象，机器鱼的高效率，低噪音，污染小的特点都将使它成为水下推进器界的新宠。50804

目前水下的推进器几乎都是螺旋桨，本设计将模拟鱼的泳动方式仿生出比螺旋桨更快，更安静的水下推进器。本设计的尾部模块应用了机构简单的以四连杆为基础的摆动机构，同时尾部用韧性材料就能够实现机器鱼的推进运动；尾部的单侧快速摆动能够实现机器鱼的回转运动；活塞缸的吸水和排水功能来实现机器鱼的升潜功能，而且本设计的升潜模块将升潜运动常用的两种方法（变重心位置和改变质量）巧妙的结合在了一起，使升潜模式多样化。本设计通过pro/e仿真软件对研究成果进行仿真验证了设计的可行性。 

毕业论文关键词：智能机器鱼；高效率；四连杆机构；升潜模块；仿真

Abstract This paper introduces a simple design of a new underwater propulsion machinery fish in the new era. Robot technology advances make it possible to develop the underwater propulsion in the 21st century and it has successfully attracted the attention of the elite in various fields. It can be supposed that robotic fish will make it a favorite underwater propulsion sector for high efficiency, low noise, low pollution features.

Currently, almost all of underwater propulsion is made by propeller, this underwater propulsion simulated from the really fish must be swim faster and quieter than it of the propeller. The swing mechanism design of the empennage module to the underwater propulsion based on a simple four-bar linkage mechanism. Advancing movement of robotic fish can be realized with the ductile material fish tail. Fish tail fast swing side of its body to achieve the rotary movement of machine fish. Piston cylinder absorb and exhaust water to achieve the rise and descend movement and the design of the rise and descend module ingenious combine two commonly methods (change the center of gravity or changing quality)together to make the mode persification. Here research results of the feasibility of the design by pro / e simulation software.

Keywords: Intelligent robotic fish; efficiency; four bar linkage; up and down module; simulation

目  录

第一章 绪论 1

1.1 引言 1

1.2国外发展情况 2

1.3国内发展概况 3

第二章 机器鱼仿生学基础 5

2.1机器鱼运动机理及参数描述 5

2.2升潜运动 6

2.3尾鳍运动 7

2.3.1 推进运动 7

2.3.2 转向运动 8

第三章 智能机器鱼运动学模型初步建立及力分析 10

3.1智能机器鱼运动学模型初步建立 10

3.2 运动学简要分析 13

3.3机器鱼的阻力及推力分析 14

3.3.1 阻力分析 15

3.3.2 推力分析 15

第四章 智能机器鱼的结构设计 17

4.1智能机器鱼本体结构的设计思想 17

4.2尾鳍单元设计 18

4.2.1 尾鳍部分