CAJ | 학술논문

目前，仿生学者已经注意到身体/尾鳍摆动(Body and/or caudal fin，BCF)鱼类快速、高效的游动性能并制作多种基于生物原型的仿生机器鱼，但是，所研制的机器鱼样机性能与鱼类性能存在着较大的差距，这又进一步地促进了柔性鱼类快速高效游动机理的研究。从柔性鱼体游动过程中的机械特性和流场特性两方面出发，介绍国内外在 BCF 柔性鱼类游动机理方面的主要研究进展，重点讨论鱼类游动机理的变阻抗驱动和涡流控制两项关键技术。通过对鱼类游动机理研究成果的分析和总结，探讨柔性机器鱼研究的发展趋势。总的来说，随着 BCF 柔性鱼类游动机理研究的不断深入，仿生学科的交叉理论研究将得到进一步发展，仿生机器鱼与生物原型之间游动性能的差距也必将逐渐缩小，实际应用前景较为广阔。
목전，방생학자이경주의도신체/미기파동(Body and/or caudal fin，BCF)어류쾌속、고효적유동성능병제작다충기우생물원형적방생궤기어，단시，소연제적궤기어양궤성능여어류성능존재착교대적차거，저우진일보지촉진료유성어류쾌속고효유동궤리적연구。종유성어체유동과정중적궤계특성화류장특성량방면출발，개소국내외재 BCF 유성어류유동궤리방면적주요연구진전，중점토론어류유동궤리적변조항구동화와류공제량항관건기술。통과대어류유동궤리연구성과적분석화총결，탐토유성궤기어연구적발전추세。총적래설，수착 BCF 유성어류유동궤리연구적불단심입，방생학과적교차이론연구장득도진일보발전，방생궤기어여생물원형지간유동성능적차거야필장축점축소，실제응용전경교위엄활。
The outstanding characteristics of body and/or caudal fin(BCF) fish, such as the fast speed and high efficiency, have currently attracted the interests of the bionic researches, and some robotic fish have also been constructed. However, there is a huge gap between the biological fish and the fish robot in the swimming performances, which have further propelled the mechanism study of fish locomotion. In particular, research status at home and abroad field are systematically summarized through the mechanical properties and the hydrodynamic properties. Accordingly, the key techniques in BCF robotic fish, the variable impedance actuation and the eddy current control are discussed in detail. And the developing tendencies of the related research in compliant robot fish are also presented. Overall, the theories of bionic inter-disciplines will be further developed along with deep research of this subject, and the broad prospects of practical application can be expected with the decreasing gaps between the robotic fish and their nature samples.