简介：Fishesarefamousfortheirabilitytopositionthemselvesaccuratelyeveninturbulentflows.Thisabilityistheresultofthecoordinatedmovementoffinswhichextendfromthebody.Wehaveembarkedonaresearchprogramdesignedtodevelopanagileandhighefficientbiologicallyinspiredroboticfishbasedontheperformanceofhybridmechanicalfins.Toaccomplishthisgoal,amechanicalray-likefinactuatedbyShapeMemoryAlloy(SMA)isdeveloped,whichcanrealizebothoscillatorylocomotionandundulatorylocomotion.Wefirstgiveabriefintroductiononthemechanicalstructureofourfinandthencarryouttheoreticanalysisonforcegeneration.DetailedinformationofthesetheoreticalresultsislaterrevealedbyComputationalFluidDynamic(CFD),andisfinalvalidatedbyexperiments.Thisroboticfinhaspotentialapplicationasapropulsorforfutureunderwatervehiclesinadditiontobeingavaluablescientificinstrument.