Based on motor-cam-slider-crank mechanism,a biomimetic fish fin unit was developed.Then,the kinematics of biomimetic fish fin unit was analyzed,the relationship between cam and fin ray was also established.In combination with Adams simulation software,the change of angular displacement,angular velocity and angle acceleration of fin ray was presented under different cam angular velocities of π/6 rad·s-1 and 2π/3 rad·s-1.The results indicate that:the curves of angular displacement,angular velocity and angle acceleration with time present the same undulating rule with equal frequency.However,the ray angular acceleration time curve presents small asymmetry relative to the zero line.Moreover,the frequency and the amplitude of angular displacement,angular velocity and angle acceleration increase with the increase of motor rotation velocity.This motion characteristics coincide with the motion law of biological fins.The development of current biomimetic fish fin unit provides a reference for the further research on bio-propulsor.%利用电机-凸轮-滑块-曲柄机构,设计了一款仿生鱼鳍单元.对仿生鱼鳍单元的运动学进行分析,建立了凸轮运动参数与鳍条运动参数之间的关系.结合Adams仿真软件,分析凸轮角速度分别为π/6和2π/3 rad·s-1时鳍条运动角位移、角速度和角加速度随时间的变化.结果显示:鳍条角位移、角速度和角加速度曲线均呈现等频率波动规律,但鳍条角加速度时间曲线相对零位呈现小幅度的不对称性;随着电机转速增加,鳍条角位移、角速度和角加速度的变化频率增大,幅值也随之增大.上述运动特征与生物鱼鳍的运动规律相符,该仿生鱼鳍单元结构设计为进一步研制仿生鳍推进器提供参考.
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