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SPC-II型仿生机器鱼是利用尾鳍推进机理,实现机器鱼稳定、高速游动和验证机动性的一个实验平台.SPC-II不模仿某种特定鱼类的外形,而是把游动稳定性作为仿生水下航行器设计首要考虑的因素,有效克服艏摇的鱼体,使得尾鳍推进器的运动不受到干扰,同时也降低航行阻力.SPC-II长度约1.2m,采用完全刚体耐压舱,内部安装了电池、GPS(GlobalPositionSystem)和罗盘组合导航系统、2关节伺服电机推进系统,能在深度5m内进行定深的自主航行,速度达到了2.8kn,功耗小于250W.对直线航行速度,转弯机动性进行了测试,并进行了长距离风浪条件下的海试.与国内外相关实验平台进行了对比,在外形、航行速度方面展现出优越性.
The SPC-II bionic robot fish is an experimental platform that utilizes the caudal fin propulsion mechanism to achieve stable, high-speed swimming and verification maneuvering of the robot fish.SPC-II does not imitate the shape of a particular fish, As the primary consideration in the design of a bionic underwater craft, it effectively overcomes the shaky fish body so as to prevent the caudal fin propulsion from being disturbed and reduces the resistance to navigation. The SPC-II has a length of about 1.2m and adopts a completely rigid- (GPS, GlobalPositionSystem) and compass integrated navigation system, 2-joint servo motor propulsion system can be carried out in the depth of 5m deep autonomous navigation, the speed reached 2.8kn, power consumption is less than 250W on the straight line speed , The turning maneuverability was tested and the sea trial was carried out under long-distance wind and wave conditions.Compared with the related experimental platforms both at home and abroad, it showed superiority in appearance and navigation speed.