仿生游動機器人憑借其卓越的性能應用于多種領域,極大的引起了研究者的廣泛關注。在宏觀尺度,國家海洋資源在經(jīng)濟發(fā)展和全球戰(zhàn)略地位方面扮演著重要角色。目前對于水下海洋資源的探索主要依靠傳統(tǒng)的螺旋槳推進方式,該推進方式技術成熟,推進速度較快,但也存在著諸如推進效率低、機動性能差、體積龐大、對環(huán)境擾動大,以及制造和維護費用高等缺陷。在微觀尺度,無線的微型機器人在多種生物醫(yī)學應用中表現(xiàn)出顯著的潛力,例如微創(chuàng)診斷、藥物運載、功能性細胞傳輸以及醫(yī)學組織工程等。盡管一些微型機器人為此已被研發(fā)出來,但新穎可靠的微型機器人仍值得探索擴展。游動生物歷經(jīng)了數(shù)百萬年的進化和自然選擇已具備了卓越的身體機理和非凡的游動性能,以應對其復雜多變的生存環(huán)境。因此,模仿它們的推進機理和結構形態(tài)為機器人的設計和控制方法等提供了重要的思路和可能性。在本論文中,對宏觀和微觀尺度的兩種仿生游動機器人進行了研究和展示。本論文分為以下兩部分。在第一部分,介紹了一款采用耦合了擺動推進和射流推進機制的仿生機器魚。該機器魚采用了雙尾鰭推進結構,兩個尾鰭平行地安裝在機器魚的尾部,并且尾鰭的形狀是仿照具有優(yōu)異加速性能的比目魚的尾鰭形狀。雙尾鰭的對... 

【文章來源】：中國科學技術大學安徽省 211工程院校 985工程院校

【文章頁數(shù)】：136 頁

【學位級別】：博士

【文章目錄】：
摘要
Abstract
Chapter 1 Introduction
    1.1 Background
    1.2 Statement of the Problems
    1.3 Research Objectives
    1.4 Methodology and Significance
    1.5 Conclusion
Chapter 2 Literature Review
    2.1 Introduction
    2.2 Fish Swimming Mechanisms
    2.3 Typical Bioinspired Swimming Robots on the Macroscale
    2.4 Propulsive Mechanisms of Microrobots
        2.4.1 Chemical Propulsion
        2.4.2 Biological Propulsion
        2.4.3 Optical Propulsion
        2.4.4 Electrical Propulsion
        2.4.5 Acoustic Propulsion
        2.4.6 Magnetic Propulsion
    2.5 Magnetic Actuation Methods
        2.5.1 Magnetic Materials
        2.5.2 Magnetic Actuation Principle
        2.5.3 Magnetic Fields
    2.6 Microrobot Fabrication
    2.7 Conclusion
Chapter 3 A Dual Caudal-fin Robotic Fish with an Integrated Oscillatory and Jet Propulsion
    3.1 Introduction
    3.2 Design of Robotic Fish
    3.3 Integrated Propulsion of Dual Caudal Fins
    3.4 Characterization Analysis of Dual Caudal-fin Mechanism
        3.4.1 Numerical Model
        3.4.2 Dynamic Analysis
        3.4.3 Forces
    3.5 Swimming Performance of Robotic Fish
        3.5.1 Experimental Setup
        3.5.2 Swimming Speed with Dual Caudal Fins
        3.5.3 Swimming Speed with a Single Caudal Fin
        3.5.4 Maneuvers with Dual Caudal Fins
    3.6 Conclusion
Chapter 4 A Magnetically Driven Undulatory Microswimmer with Multiple Rigid Segments
    4.1 Introduction
    4.2 Design of Microswimmer
    4.3 Fabrication and Characteristics of the Microswimmer
        4.3.1 Experimental Setup
        4.3.2 Fabrication Process
        4.3.3 Scanning Electron Microscopy （SEM）
        4.3.4 Energy-dispersive Spectrometry （EDS）
    4.4 Actuation of the Microswimmer
        4.4.1 Magnetic Actuation Principles
        4.4.2 Magnetic Actuation System
        4.4.3 Control Strategy
    4.5 Characterization Analysis of the Microswimmer
        4.5.1 Theoretical Model Analysis
        4.5.2 Hydrodynamic Analysis
    4.6 Swimming Experiments on the Microsiwmmer
        4.6.1 Experimental Preparation
        4.6.2 Oscillation Tests of the Magnetic Segment
        4.6.3 Undulation of the Microswimmer
        4.6.4 Swimming Speeds of the Microswimmer
        4.6.5 Navigation of the Microswimmer
        4.6.6 Justification for Swimming
    4.7 Conclusion
Chapter 5 Conclusion and Future Work
    5.1 Conclusion
    5.2 Future Work
References
Appendix
Acknowledgements



本文編號：3011325