目的 为了更好地实现水下机器人在海洋牧场观测环境中的低速稳定航行，设计一种水下观测机器人的仿生推进器。方法 结合结构仿生原理提出动态结构仿生设计方法，具体过程包括选择仿生对象、动态结构特征提取、生物特征与产品匹配、产品集成创新设计及设计评价。以水下观测机器人推进器为例，重点模仿蓝斑条尾魟胸鳍波动推进的形态与结构，分步骤完成仿生推进器造型和功能的动态结构仿生设计。结果 通过流体动力学仿真评估，得到波动鳍表面压力分布情况，结果表明波动鳍推进能够产生一定的推力，验证了动态结构仿生设计方法的可行性。结论 该仿生推进器具有低速稳定航行的特点，能够有效提升海洋牧场的观测能力，动态结构仿生设计方法对仿生推进器的结构设计具有借鉴意义。

The work aims to design a bionic propeller of underwater vehicle, in order to better realize the stable navigation of underwater vehicle at low speed in the ocean pasture observation environment. Based on the principle of structure bionics, the bionic design method of dynamic structure was proposed. The design process included selection of bionic objects, extraction of dynamic structural features, matching of biological features and products, innovative design of product integration and design evaluation. With the underwater observation vehicle propeller as an example, the shape and structure of bluespotted ribbontail ray pectoral fin in undulation propulsion were imitated, and the bionic design of dynamic structure was carried out to the shape and function of the bionic propeller step by step. The pressure distribution on the surface of undulating fin was obtained through the hydrodynamic simulation evaluation. The simulation results showed that the undulating fin could generate certain thrust, which verified the feasibility of the bionic design method of dynamic structure. The bionic propeller has the characteristics of stable navigation at low speed, which can effectively improve the observation ability of ocean pasture. The bionic design method of dynamic structure can provide reference for the structure design of bionic propeller.