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在深入分析咽颌运动模式鱼类胸鳍的肌肉和骨骼结构以及神经肌肉控制机理的基础上,采用欠驱动技术设计了一套新型的胸鳍仿生机构,介绍了此仿生机构各部分的结构、功能及参数.然后,为此胸鳍仿生机构设计了一套基于CAN总线的分布式实时测控系统,并详细分析了其软硬件的结构和功能.最后,建立了胸鳍仿生系统的样机,并通过试验验证了本文建立的胸鳍仿生系统在模拟鱼类胸鳍推进运动方面的可行性和有效性.
Based on the in-depth analysis of the muscle and skeletal structure and the neuromuscular control mechanism of pharyngeal jaws, a new type of pectoral biomimetic mechanism was designed using underactuated technique. The structure, function, Parameters.And then, a set of distributed real-time measurement and control system based on CAN bus was designed for the bionic fake body of boscalid and the structure and function of the hardware and software were analyzed in detail.Finally, a prototype of the bionic fake bionic system was established and verified by experiments The bionic pectoral fin system established in this paper is feasible and effective in simulating pectoral fins propulsion.