哈尔滨工业大学工学博士学位论文 effectively eliminate the fluctuation of the lateral force,but also enhance the propulsive force,which means that the propulsive force the twin caudal fin produced is greater than the sum of the propulsive force that two individual single caudal fin produced.In addition,the flow field,the pressure field and the three dimensional vorticity around the single and twin caudal fin were analyzed,and the propulsion mechanism of the caudal fin and the fluid field couple of the twin caudal fin were also analyzed.Subsequently,the propulsive force test platform was established and the propulsive force and lateral force that produce by the single caudal fin and the twin caudal fin were measured respectively.The experiment results verified the correctness of the numerical simulation. Based on the analysis of the mechanism of the cuttlefish jet propulsion,our research group developped a kind of bionic cuttlefish mantle actuated by SMA by imitating the structure of the cuttlefish mantle,through which the jet propulsion can be achieved.To further improve the action performance of the bionic mantle,we improve the arrangement of the SMA wire and put forwad a kind of bionic mantle with the V type arrangement of SMA wire.In order to anlyalze the action and propulsion performance of the V type arrangement bionic mantle,the action theory model has been established which combined the geometric deformable model,the mechanical model and the cavity pressure model of the bionc mantle and the thermodynamic model,constitutive model of SMA.Through the analysis of the model,the action amplitude of the bionic mante and the jet thrust the bionic mantle jet propeller can produce were cauculate and the impact of the SMA wire arrangement angle on the action amplitude were investigae,and the optimal SMA wire arrangement was obtained.Then the experimental study was conducted to reseach the jet thrust performane of the bionic mantle jet propeller and the results verified the correctness of the theory. Finally,a bionic robot fish based on the bionic caudal fin propulsion and a bionic robot fish based on the bionic jet propulsion were developed respectively,and a control system can realize the self-propelled swimming was also developed.Then the swimming experiment was carried out,the results show that the bionic fish can realize the straight line swimming,the turning swimming and desired trajectory self-propelled swimming.Furthermore,the experimental results also show that the twin caudal propulsion can effectively eliminate the head swinging and improve the stability of the robot fish. Keywords:SMA,bionic robot fish,tail fin propulsion,jet propulsion,propulsion performance,CFD simulation,autonomous swimming -IV. 万方数据哈尔滨工业大学工学博士学位论文 - IV - effectively eliminate the fluctuation of the lateral force, but also enhance the propulsive force, which means that the propulsive force the twin caudal fin produced is greater than the sum of the propulsive force that two individual single caudal fin produced. In addition, the flow field, the pressure field and the three dimensional vorticity around the single and twin caudal fin were analyzed, and the propulsion mechanism of the caudal fin and the fluid field couple of the twin caudal fin were also analyzed. Subsequently, the propulsive force test platform was established and the propulsive force and lateral force that produce by the single caudal fin and the twin caudal fin were measured respectively. The experiment results verified the correctness of the numerical simulation. Based on the analysis of the mechanism of the cuttlefish jet propulsion, our research group developped a kind of bionic cuttlefish mantle actuated by SMA by imitating the structure of the cuttlefish mantle, through which the jet propulsion can be achieved. To further improve the action performance of the bionic mantle, we improve the arrangement of the SMA wire and put forwad a kind of bionic mantle with the V type arrangement of SMA wire. In order to anlyalze the action and propulsion performance of the V type arrangement bionic mantle, the action theory model has been established which combined the geometric deformable model, the mechanical model and the cavity pressure model of the bionc mantle and the thermodynamic model, constitutive model of SMA. Through the analysis of the model, the action amplitude of the bionic mante and the jet thrust the bionic mantle jet propeller can produce were cauculate and the impact of the SMA wire arrangement angle on the action amplitude were investigae, and the optimal SMA wire arrangement was obtained. Then the experimental study was conducted to reseach the jet thrust performane of the bionic mantle jet propeller and the results verified the correctness of the theory. Finally, a bionic robot fish based on the bionic caudal fin propulsion and a bionic robot fish based on the bionic jet propulsion were developed respectively, and a control system can realize the self-propelled swimming was also developed. Then the swimming experiment was carried out, the results show that the bionic fish can realize the straight line swimming, the turning swimming and desired trajectory self-propelled swimming. Furthermore, the experimental results also show that the twin caudal propulsion can effectively eliminate the head swinging and improve the stability of the robot fish. Keywords: SMA, bionic robot fish, tail fin propulsion, jet propulsion, propulsion performance, CFD simulation, autonomous swimming 万方数据