【摘要】：隨著人類對(duì)于海洋生命的不斷探索,以及當(dāng)今社會(huì)上各領(lǐng)域里機(jī)器人技術(shù)的廣泛應(yīng)用,機(jī)器人可以在很多復(fù)雜環(huán)境中完成指定任務(wù),許多人和工具無(wú)法做到的動(dòng)作,機(jī)器人可以輕松完成。本文基于現(xiàn)代仿生學(xué)、機(jī)械設(shè)計(jì)、流體力學(xué)等領(lǐng)域設(shè)計(jì)了一臺(tái)仿生機(jī)器海豚,機(jī)器海豚以海洋中的寬吻海豚為參照,可以模仿真實(shí)海豚游動(dòng)方式。設(shè)計(jì)的機(jī)器海豚可以在復(fù)雜海域進(jìn)行長(zhǎng)時(shí)間的巡航,依靠自身攜帶的各種傳感器和攝像頭可以對(duì)周圍環(huán)境進(jìn)行實(shí)時(shí)監(jiān)測(cè),還可以發(fā)出超聲波引導(dǎo)魚(yú)群遷徙,經(jīng)過(guò)改裝的機(jī)器海豚可以攜帶魚(yú)雷進(jìn)行軍事偵察反潛。本文針對(duì)多用途的仿生機(jī)器海豚穩(wěn)定性和仿生性的要求,研究和設(shè)計(jì)了仿生機(jī)器海豚的機(jī)械結(jié)構(gòu),主要研究?jī)?nèi)容如下:(1)本文設(shè)計(jì)的機(jī)器海豚以大自然中的寬吻海豚為仿生對(duì)象,參照海豚的湽科加月牙尾的推進(jìn)模式,采用模塊化的設(shè)計(jì)思想設(shè)計(jì)了機(jī)器海豚的各部分功能機(jī)構(gòu),總共分為頭部機(jī)構(gòu)、尾部正弦推進(jìn)機(jī)構(gòu)、重心調(diào)節(jié)機(jī)構(gòu)、胸鰭機(jī)構(gòu)、尾部輔助機(jī)構(gòu)五部分,模塊化的設(shè)計(jì)思想有助于后續(xù)的結(jié)構(gòu)改進(jìn)優(yōu)化。(2)利用ADAMAS軟件對(duì)尾部的正弦推進(jìn)機(jī)構(gòu)進(jìn)行運(yùn)動(dòng)學(xué)仿真以及優(yōu)化,求得關(guān)鍵部位曲軸受力情況以及尾鰭擺動(dòng)的位移、速度、加速度,得到了類似于正弦曲線的尾鰭擺動(dòng)速度曲線,從而驗(yàn)證了機(jī)器海豚的背腹式運(yùn)動(dòng)特點(diǎn),并對(duì)正弦推進(jìn)機(jī)構(gòu)進(jìn)行了優(yōu)化,優(yōu)化后可使正弦推進(jìn)機(jī)構(gòu)推進(jìn)效率最大。(3)最后選取對(duì)機(jī)構(gòu)運(yùn)動(dòng)動(dòng)態(tài)特性影響最大的主要部件曲軸進(jìn)行安全特性檢驗(yàn)。曲軸的失效不但會(huì)使系統(tǒng)無(wú)法正常工作,還可能引起嚴(yán)重的事故。據(jù)統(tǒng)計(jì),百分之七十的曲軸失效是由于彎曲疲勞所導(dǎo)致的。本文根據(jù)機(jī)器海豚工作情況,計(jì)算出最大剪切阻力,考慮到曲軸復(fù)雜的形狀以及工況,利用ANSYS軟件對(duì)曲軸進(jìn)行了強(qiáng)度校核,得到位移云圖、應(yīng)力分布云圖。考慮到運(yùn)動(dòng)過(guò)程中電機(jī)轉(zhuǎn)動(dòng)對(duì)曲軸的影響,從避免共振的角度分析了機(jī)器海豚重要部件曲軸,在靜力學(xué)分析的基礎(chǔ)上對(duì)其進(jìn)行模態(tài)分析,得到位移云圖、應(yīng)力分布云圖、固有頻率和振型,確定其易受影響的頻率范圍。
[Abstract]:With the constant exploration of marine life and the wide application of robotics in various fields of society today, robots can perform specific tasks in many complex environments, and many people and tools cannot do so. Robots can be easily done. In this paper, a bionic robot dolphin is designed based on modern bionics, mechanical design, fluid mechanics and other fields. The robot dolphin can imitate the swimming mode of real dolphin according to the dolphin in the ocean. Designed for long periods of time in complex waters, robotic dolphins rely on their sensors and cameras to monitor their surroundings in real time, and to send out ultrasound to guide fish flocks to migrate. Modified robotic dolphins can carry torpedoes for military reconnaissance anti-submarine. According to the requirements of stability and bionics of multi-purpose bionic robot dolphin, the mechanical structure of bionic robot dolphin is studied and designed in this paper. The main contents of the study are as follows: (1) the robot dolphin designed in this paper takes the dolphin in nature as the biomimetic object, referring to the propulsive mode of dolphin's family and crescent tail. The functional mechanism of the robot dolphin is designed by using the modular design idea, which is divided into five parts: the head mechanism, the tail sine propulsion mechanism, the center of gravity adjustment mechanism, the pectoral fin mechanism, and the tail auxiliary mechanism. The modular design idea is helpful to the following structure improvement and optimization. (2) the kinematics simulation and optimization of the tail sine propulsion mechanism are carried out by using ADAMAS software, and the force condition of the crankshaft at the key position and the displacement and velocity of the tail fin swing are obtained. Acceleration, the velocity curve of tail fin swinging similar to sine curve is obtained, which verifies the characteristics of dolphin's back-abdomen motion, and optimizes the sine propulsion mechanism. After optimization, the propulsion efficiency of the sine propulsion mechanism can be maximized. (3) the crankshaft, which has the greatest influence on the dynamic characteristics of the mechanism, is selected to test the safety characteristics of the crankshaft. The failure of crankshaft will not only make the system not work properly, but also cause serious accidents. According to statistics, 70% of crankshaft failure is due to bending fatigue. According to the working condition of the dolphin, the maximum shear resistance is calculated in this paper. Considering the complicated shape and working condition of the crankshaft, the strength check of the crankshaft is carried out by using ANSYS software, and the displacement cloud diagram and the stress distribution cloud diagram are obtained. Considering the influence of motor rotation on crankshaft in the course of motion, the crankshaft, an important part of machine dolphin, is analyzed from the angle of avoiding resonance. The modal analysis is carried out on the basis of statics analysis, and the displacement cloud diagram and stress distribution cloud diagram are obtained. Natural frequency and mode shape to determine its vulnerable frequency range.
【學(xué)位授予單位】：深圳大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

【參考文獻(xiàn)】

相關(guān)期刊論文 前10條

1 張磊;孟中杰;;基于尾鰭推進(jìn)模型的三關(guān)節(jié)仿生機(jī)器海豚系統(tǒng)[J];兵工自動(dòng)化;2016年12期

2 商延賡;金娥;可慶朋;韓亞民;高志樺;田麗梅;;仿海豚皮膚結(jié)構(gòu)的功能表面提高離心泵效率[J];農(nóng)業(yè)工程學(xué)報(bào);2016年07期

3 杜如虛;鐘勇;陳賢帥;李崢;;基于拉線機(jī)構(gòu)的機(jī)器魚(yú)運(yùn)動(dòng)控制仿真研究[J];江蘇科技大學(xué)學(xué)報(bào)(自然科學(xué)版);2014年05期

4 陳進(jìn);馬金成;汪泉;郭小鋒;李松林;;基于ANSYS二次開(kāi)發(fā)的風(fēng)力機(jī)葉片結(jié)構(gòu)優(yōu)化[J];哈爾濱工程大學(xué)學(xué)報(bào);2014年07期

5 周臘吾;徐超;胡雪婷;蘇清杰;侯紹虎;湯輝;;基于Pro/E和ANSYS的發(fā)電機(jī)轉(zhuǎn)子橫截面的應(yīng)力分析[J];湖南大學(xué)學(xué)報(bào)(自然科學(xué)版);2013年04期

6 趙麗媛;陶翠花;許敏;祝茜;;中華白海豚SRAP分子標(biāo)記多態(tài)性的初步研究[J];臺(tái)灣海峽;2012年02期

7 于蘇民;;平面機(jī)構(gòu)自由度計(jì)算中常見(jiàn)錯(cuò)誤分析[J];科技信息;2011年26期

8 湯修映;肖丹;劉嶺;劉川;毛恩榮;;ADAMS、Pro/E和ANSYS間數(shù)據(jù)的自動(dòng)傳輸技術(shù)[J];農(nóng)業(yè)機(jī)械學(xué)報(bào);2011年06期

9 王揚(yáng)威;王振龍;李健;;仿生機(jī)器魚(yú)研究進(jìn)展及發(fā)展趨勢(shì)[J];機(jī)械設(shè)計(jì)與研究;2011年02期

10 袁國(guó)勇;;ANSYS網(wǎng)格劃分方法的分析[J];現(xiàn)代機(jī)械;2009年06期

，

本文編號(hào)：2441216