线驱动自主巡游机器人设计及试验研究

设计了一种拉线机构驱动的仿鱼型自主巡游机器人，阐述了其机械结构、电路系统及控制算法的设计方案，同时开展开敞水域试验对其游动性能进行研究。研究表明，在直行及转弯试验中，当摆尾频率相同时，随着尾鳍摆动幅度的增加，机器鱼的游动速度上升；当尾鳍摆动幅度相同时，随着摆尾频率的增加，机器鱼游动速度先升后降，且在0.60 Hz附近时达到峰值；在目标角度转向试验中，当摆尾频率及目标角度相同时，随着尾鳍摆动幅度的增加，机器鱼的角度响应时间逐渐减小；当尾鳍摆动幅度及目标角度相同时，随着摆尾频率的增加，角度响应时间先降后升；当摆尾频率及摆动幅度相同时，目标角度的增加会使得角度响应时间呈上升趋势。研究成果验证了该机器鱼平台的可靠性，为将来进一步理论研究及实际应用提供了一定的参考。

Design and experimental study of wire-driven autonomous cruising robot

The design of a fish-like wire-driven autonomous cruising robot including its mechanical design, circuit system and control algorithm design was proposed, and an open water experiment was implemented to study its swimming performance. The experiment results show that in straight and turning experiments, the swimming speed of robotic fish increases with the increase of caudal fin flapping amplitude when the tail flapping frequency is the same. When the flapping amplitude of caudal fin is the same, the swimming speed of robotic fish increases first and then decreases with the increase of tail flapping frequency, and reaches the peak at 0.60 Hz. In the target angle steering experiment, when the tail flapping frequency and the target orientation angle are the same, the orientation angle response time of the robot fish decreases gradually with the increase of the caudal fin flapping amplitude. When the amplitude of caudal fin flapping and the target angle are the same, the angular response time decreases first and then increases with the increase of tail flapping frequency. When the frequency and amplitude of the tail flapping are the same, the orientation angle response time increases with the increase of the target angle. The research results verify the feasibility of the robotic fish platform and provide a certain reference value for further theoretical research and practical application in the future.