哈尔滨工业大学工学硕士学位论文 Abstract Due to the reality of the increasing depletion of land resources and the expanding needs of human activity space,human began to turn to develop and explore the ocean which will greatly promote the development of underwater propulsion.The pectoral fin-propelled fish,representative by rays,are characterized by extraordinary superiority in concealment and maneuverability and bionics research on batoid can not match the practical needs of reality.This article will choose batoid as the bionic object and design a bionic pectoral fin-propelled propulsion system to verify the feasibility and superiority of fin-propelled propulsion by experiment. This paper will design a bionic-batoid experimental device on the basis of existing bionic research on batoid which contains the existing physical model,kinematic model and dynamic model,focused on solving the key issues of structural design,waterproof seal,the calculation of gravity and buoyancy.The experimental propulsion system can maintain a proper position in the water and realize the bionic movement of batoid. This paper,on the basis of existing results of hydrodynamic simulation on batoid, design experiments to analyze the effect of the key parameters such as frequency of fluctuation,wave number and amplitude of fluctuation on performance of the bionic batoid and investigate the influence of key parameters on key performance indicators such as the speed of propulsion,the propulsion of system,the turning radius and the average velocity of turning angular.The research in this paper verify the correctness of the simulation results and prove the feasibility and superiority of fin-propelled propulsion. Key words:bionic batoid,experimental study,propulsion performance,mobilit 万方数据哈尔滨工业大学工学硕士学位论文 -II￾Abstract Due to the reality of the increasing depletion of land resources and the expanding needs of human activity space, human began to turn to develop and explore the ocean, which will greatly promote the development of underwater propulsion. The pectoral fin-propelled fish, representative by rays, are characterized by extraordinary superiority in concealment and maneuverability and bionics research on batoid can not match the practical needs of reality. This article will choose batoid as the bionic object and design a bionic pectoral fin-propelled propulsion system to verify the feasibility and superiority of fin-propelled propulsion by experiment. This paper will design a bionic-batoid experimental device on the basis of existing bionic research on batoid which contains the existing physical model, kinematic model and dynamic model, focused on solving the key issues of structural design, waterproof seal, the calculation of gravity and buoyancy. The experimental propulsion system can maintain a proper position in the water and realize the bionic movement of batoid. This paper, on the basis of existing results of hydrodynamic simulation on batoid, design experiments to analyze the effect of the key parameters such as frequency of fluctuation, wave number and amplitude of fluctuation on performance of the bionic batoid and investigate the influence of key parameters on key performance indicators such as the speed of propulsion, the propulsion of system, the turning radius and the average velocity of turning angular. The research in this paper verify the correctness of the simulation results and prove the feasibility and superiority of fin-propelled propulsion. Key words: bionic batoid, experimental study, propulsion performance, mobilit 万方数据