二自由度胸鳍驱动仿生机器鱼设计及动力学分析

发布时间：2018-04-17 20:08

本文选题：机器鱼 + 二自由度　；参考：《兰州交通大学》2014年硕士论文

【摘要】：近年来，以鱼类为仿生对象，设计高效的水下推进装置成为机器人领域研究的热点之一。现阶段的研究主要针对以躯干-尾鳍推进模式(BCF)展开，针对胸鳍-对鳍模式（MPF）推进的装置研究较少，且多集中于具有一个自由度的机构。本文以松江鲈鱼为仿生对象，设计了一款二自由度胸鳍推进的仿生机器鱼，，具体内容如下： (1)设计了一种二自由度胸鳍推进的仿生机器鱼驱动机构。本文以松江鲈鱼的外形特征为参照，设计了一种新型的二自由度胸鳍推进仿生机器鱼，所设计机构不仅可单独实现拍翼运动、摇翼运动，而且也可以实现它们的复合运动，运动形式更为丰富。 (2)以体积最小为目标，优化了胸鳍驱动机构的结构参数。优化结果不仅使驱动机构的结构更加紧凑，能够安装在鱼体狭小的空间范围内，而且实现了机器鱼的轻量化，提高了仿生机器鱼的游动性能。 (3)建立了二自由度刚性胸鳍的运动模型，完成了驱动机构动力学、机器鱼运动形式和驱动机构动平衡分析，具体包括：①基于DH方法建立了驱动机构的动力学模型，分析了驱动机构的基本运动关系，为仿生机器鱼直游、转弯等基本运动形式的确定提供了依据。②给出了仿生机器鱼的3种直线游动(包括倒游)方式，以及3种转弯运动方式。③分析了仿生机构的动平衡性能，结果表明运动过程中质心的变化可以通过增加配重或选用轻质材料的方法予以消除，验证了仿生机构设计的合理性。
[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.
【学位授予单位】：兰州交通大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：TP242;TB17

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