本文選題：機(jī)器魚 + 二自由度�。� 參考：《蘭州交通大學(xué)》2014年碩士論文

【摘要】：近年來，以魚類為仿生對象，設(shè)計高效的水下推進(jìn)裝置成為機(jī)器人領(lǐng)域研究的熱點(diǎn)之一�，F(xiàn)階段的研究主要針對以軀干-尾鰭推進(jìn)模式(BCF)展開，針對胸鰭-對鰭模式（MPF）推進(jìn)的裝置研究較少，且多集中于具有一個自由度的機(jī)構(gòu)。本文以松江鱸魚為仿生對象，設(shè)計了一款二自由度胸鰭推進(jìn)的仿生機(jī)器魚，，具體內(nèi)容如下： (1)設(shè)計了一種二自由度胸鰭推進(jìn)的仿生機(jī)器魚驅(qū)動機(jī)構(gòu)。本文以松江鱸魚的外形特征為參照，設(shè)計了一種新型的二自由度胸鰭推進(jìn)仿生機(jī)器魚，所設(shè)計機(jī)構(gòu)不僅可單獨(dú)實(shí)現(xiàn)拍翼運(yùn)動、搖翼運(yùn)動，而且也可以實(shí)現(xiàn)它們的復(fù)合運(yùn)動，運(yùn)動形式更為豐富。 (2)以體積最小為目標(biāo)，優(yōu)化了胸鰭驅(qū)動機(jī)構(gòu)的結(jié)構(gòu)參數(shù)。優(yōu)化結(jié)果不僅使驅(qū)動機(jī)構(gòu)的結(jié)構(gòu)更加緊湊，能夠安裝在魚體狹小的空間范圍內(nèi)，而且實(shí)現(xiàn)了機(jī)器魚的輕量化，提高了仿生機(jī)器魚的游動性能。 (3)建立了二自由度剛性胸鰭的運(yùn)動模型，完成了驅(qū)動機(jī)構(gòu)動力學(xué)、機(jī)器魚運(yùn)動形式和驅(qū)動機(jī)構(gòu)動平衡分析，具體包括：①基于DH方法建立了驅(qū)動機(jī)構(gòu)的動力學(xué)模型，分析了驅(qū)動機(jī)構(gòu)的基本運(yùn)動關(guān)系，為仿生機(jī)器魚直游、轉(zhuǎn)彎等基本運(yùn)動形式的確定提供了依據(jù)。②給出了仿生機(jī)器魚的3種直線游動(包括倒游)方式，以及3種轉(zhuǎn)彎運(yùn)動方式。③分析了仿生機(jī)構(gòu)的動平衡性能，結(jié)果表明運(yùn)動過程中質(zhì)心的變化可以通過增加配重或選用輕質(zhì)材料的方法予以消除，驗(yàn)證了仿生機(jī)構(gòu)設(shè)計的合理性。
[Abstract]:In recent years, the design of an efficient underwater propulsion device with fish as biomimetic object has become one of the hotspots in the field of robot research.At present, the research is mainly focused on the trunk-caudal propulsion mode (BCFs), and the pectoral-fin-fin model MPF propulsion device is less studied, and most of the research is focused on the mechanism with one degree of freedom.In this paper, a bionic robot fish with two degrees of freedom (DOF) pectoral fin propulsion is designed with Songjiang perch as the bionic object. The specific contents are as follows:A bionic robotic fish driving mechanism with two degrees of freedom for pectoral fin propulsion is designed.In this paper, a new two-degree-of-freedom pectoral-fin propulsion bionic robot fish is designed according to the shape characteristics of Songjiang perch. The designed mechanism can not only realize the flapping wing motion, the flapping wing movement, but also the compound motion.The form of movement is more abundant.2) the structural parameters of the pectoral fin drive mechanism are optimized with the minimum volume as the target.The optimization results not only make the structure of the driving mechanism more compact and can be installed in the narrow space of the fish body, but also achieve the lightweight of the robot fish and improve the swimming performance of the bionic robot fish.The kinematic model of the two degree of freedom rigid pectoral fin is established, and the dynamics of the driving mechanism, the motion form of the robot fish and the dynamic balance of the driving mechanism are analyzed, including the dynamic model of the driving mechanism based on the DH method.The basic motion relationship of the driving mechanism is analyzed, which provides the basis for the determination of the basic motion forms of bionic robot fish, such as straight swimming and turning. 2. Three kinds of straight swimming (including inverted swimming) modes of bionic robot fish are given.The dynamic balance performance of the bionic mechanism is analyzed in three turning motion modes. The results show that the change of the centroid can be eliminated by increasing the counterweight or selecting the light material, which verifies the rationality of the design of the bionic mechanism.
【學(xué)位授予單位】：蘭州交通大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2014
【分類號】：TP242;TB17

【參考文獻(xiàn)】

相關(guān)期刊論文 前1條

1 ;Design and Experiments of a Robotic Fish Imitating Cow-Nosed Ray[J];Journal of Bionic Engineering;2010年02期

本文編號：1765084