简介：Inthispaper,acarangiformroboticfishwith4-DoF(degreeoffreedom)tailhasbeendeveloped.Theroboticfishhascapabilityofswimmingundertwomodesthatareradiocontrolandautonomousswimming.Experimentswereconductedtoinvestigatetheinfluencesofcharacteristicparametersincludingthefrequency,theamplitude,thewavelength,thephasedif-ferenceandthecoefficientonforwardvelocity.Theexperimentalresultsshownthattheswimmingperformanceoftheroboticfishisaffectedmostlybythecharacteristicparametersobserved.

简介：Aroboticfishdrivenbyoscillatingfins,"CownoseRay-I",isdeveloped,whichisindorsoventrallyflattenedshapewithoutatail.Theroboticfishiscomposedofabodyandtwolateralfins.Athree-factorkinematicmodelisestablishedandusedinthedesignofamechanism.Bycontrollingthethreekinematicparameters,theroboticfishcanaccelerateandmaneuver.Forwardvelocityisdependentonthelargestamplitudeandthenumberofwavesinthefins,whiletherelativecontributionoffinbeatfrequencytotheforwardvelocityoftheroboticfishisdifferentfromtheusualresult.Ontheotherhand,experimentalresultsonmaneuveringshowthatphasedifferencehasastrongereffectonswervingthanthelargestamplitudetosomeextent.Inaddition,aspropulsionwavespassfromthetrailingedgetotheleadingedge,theroboticfishattainsabackwardvelocityof0.15m·s-1.

简介：Thecow-nosedrayisstudiedasnaturalsampleofaflapping-foilroboticfish.Bodystructure,motiondiscipline,anddynamicfoildeformationofcow-nosedrayareanalyzed.Basedontheanalysisresults,aroboticfishimitatingcow-nosedray,namedRobo-rayⅡ,mainlycomposedofsoftbody,flexibleribsandpneumaticartificialmuscles,isdeveloped.Structureandswimmingmorphologyoftheroboticprototypeareasthatofanormalcow-nosedrayinnature.KeypropulsionparametersofRobo-rayⅡatnormalconditions,includingtheStNumberatlinearswimming,thrustcoefficientattowingarestudiedthroughexperiments.Thesuitabledrivingparametersareconfirmedconsideringtheefficiencyandswimmingvelocity.Swimmingvelocityof0.16m·s-1’andthrustcoefficientof0.56inmaximumareachievedinexperiments.