硕士学位论文 仿生机器水母推进理论与实验研究 (工程硕士) RESEARCH ON THE PROPULSION MECHANISM OF A NOVAL BIOMIMETIC JELLYFISH 王鹏 哈尔滨工业大学 2014年7月 万方数据
硕士学位论文 仿生机器水母推进理论与实验研究 （工程硕士） RESEARCH ON THE PROPULSION MECHANISM OF A NOVAL BIOMIMETIC JELLYFISH 王鹏 哈尔滨工业大学 2014 年 7 月 万方数据
国内图书分类号：TP242.6 学校代码：10213 国际图书分类号：621 密级：公开 工程硕士学位论文 仿生机器水母推进理论与实验研究 (工程硕士) 硕士研究生：王鹏 导 师：刘建国副教授 申请学位：工程硕士 学 科：机械工程 所在单位：机电工程学院 答辩日期：2014年7月 授予学位单位：哈尔滨工业大学 万方数据
国内图书分类号：TP242.6 学校代码：10213 国际图书分类号：621 密级：公开 工程硕士学位论文 仿生机器水母推进理论与实验研究 （工程硕士） 硕士研究生：王鹏 导 师：刘建国 副教授 申请学位：工程硕士 学 科：机械工程 所 在 单 位：机电工程学院 答 辩 日 期：2014 年 7 月 授予学位单位：哈尔滨工业大学 万方数据
Classified Index:TP242.6 U.D.C:621 Dissertation for the Master Degree in Engineering RESEARCH ON THE PROPULSION MECHANISM OF A NOVAL BIOMIMETIC JELLYFISH (Master of Engineering) Candidate: Wang Peng Supervisor: Prof.Liu JanGuo Academic Degree Applied for: Master of Engineering Speciality: Mechatronics Engineering Affiliation: School of Mechatronics Engineering Date of Defence: July,2014 Degree-Conferring-Institution: Harbin Institute of Technology 万方数据
Classified Index: TP242.6 U.D.C: 621 Dissertation for the Master Degree in Engineering RESEARCH ON THE PROPULSION MECHANISM OF A NOVAL BIOMIMETIC JELLYFISH (Master of Engineering) Candidate： Wang Peng Supervisor： Prof. Liu JanGuo Academic Degree Applied for： Master of Engineering Speciality： Mechatronics Engineering Affiliation： School of Mechatronics Engineering Date of Defence： July, 2014 Degree-Conferring-Institution： Harbin Institute of Technology 万方数据
哈尔滨工业大学工程硕士学位论文 摘要 无人水下运载系统伴随着人类探索海洋、开发海洋逐渐加快的步伐得到 了较快的发展，其中以鱼类等水生生物为推进系统仿生原型的机器正受到越 来越多的关注。相比于传统的波状游动鱼类，水母具备较高的运动灵活性、 环境适应性和目标隐蔽性，同时还具有高效的流场能量利用机制，适合作为 海洋深潜、洋流观测、目标侦查以及武器运载等水下机器的仿生原型。关于 水母推进机理的研究在近几年较为活跃，相继开发出了多种不同驱动形式的 水母机器人，但目前的研究主要集中在厘米级尺度，关于直径为1米左右的 中型水母研究较少。由于中型水母在工程应用中具有较为良好的前景，因此 本文将通过理论分析和水下实验研究其推进机理。 本文以霞水母为研究对象，对霞水母的运动机理进行了分析，描述其基 本运动。考虑水母的推进运动，建立了水母钟状体收缩和舒张的动力学模型， 对其进行了动力学分析，分析水母在水中推进时的受力情况，以及减少推进 阻力的方法。 在仿生学研究、动力学分析的基础上，设计了仿生机器水母样机，该样 机采用一个伺服电机来驱动六个辅助触角，六个辅助触角的往复摆动带动覆 盖在上面的硅胶外皮，从而带动类似于水母的钟状体结构的柔性硅胶实现收 缩和舒张运动。应用仿真软件ADAMS,对水母六只触角组成的钟状体结构 进行简化，并进行动力学分析和动力学仿真，分析机器水母触角在水中受力 情况，为实验做好理论基础。 对控制系统进行设计，根据动力学分析明确水母需要实现的基本运动， 加工、装配得到仿生水母实验样机，对仿生机器水母样机进行调试和推进性 能实验，实验分析得到了机器水母的水下的运动情况，对实验结果进行分析， 获得实验数据。 关键词：仿生学：机器水母：运动机理；动力学分析 -I- 万方数据
哈尔滨工业大学工程硕士学位论文 摘 要 无人水下运载系统伴随着人类探索海洋、开发海洋逐渐加快的步伐得到 了较快的发展，其中以鱼类等水生生物为推进系统仿生原型的机器正受到越 来越多的关注。相比于传统的波状游动鱼类，水母具备较高的运动灵活性、 环境适应性和目标隐蔽性，同时还具有高效的流场能量利用机制，适合作为 海洋深潜、洋流观测、目标侦查以及武器运载等水下机器的仿生原型。关于 水母推进机理的研究在近几年较为活跃 ，相继开发出了多种不同驱动形式的 水母机器人，但目前的研究主要集中在厘米级尺度，关于直径为 1 米左右的 中型水母研究较少。由于中型水母在工程应用中具有较为良好的前景，因此 本文将通过理论分析和水下实验研究其推进机理。 本文以霞水母为研究对象，对霞水母的运动机理进行了分析，描述其基 本运动。考虑水母的推进运动，建立了水母钟状体收缩和舒张的动力学模型， 对其进行了动力学分析，分析水母在水中推进时的受力情况，以及减少推进 阻力的方法。 在仿生学研究、动力学分析的基础上，设计了仿生机器水母样机，该样 机采用一个伺服电机来驱动六个辅助触角，六个辅助触角的往复摆动带动覆 盖在上面的硅胶外皮，从而带动类似于水母的钟状体结构的柔性硅胶实现收 缩和舒张运动。应用仿真软件 ADAMS，对水母六只触角组成的钟状体结构 进行简化，并进行动力学分析和动力学仿真，分析机器水母触角在水中受力 情况，为实验做好理论基础。 对控制系统进行设计，根据动力学分析明确水母需要实现的基本运动， 加工、装配得到仿生水母实验样机，对仿生机器水母样机进行调试和推进性 能实验，实验分析得到了机器水母的水下的运动情况，对实验结果进行分析， 获得实验数据。 关键词：仿生学；机器水母；运动机理；动力学分析 - I - 万方数据
哈尔滨工业大学工程硕士学位论文 Abstract As human's exploration and development of ocean speeds up gradually,the unmanned underwater transfer system obtains fast development.Thereinto, machines based on fish and other aquatic organisms which motion with bionic propulsion system are receiving more and more attention.Compared to the traditional wave swimming fish,jellyfish has better flexibility,environmental adaptability and concealment of the target motion,and also has the mechanism with efficient utilization of the flow field energy,is suitable for underwater prototype machine of ocean dives,observation,target detection and weapon transportation.Propulsion mechanism about jellyfish actives in recent years,the researches have developed a variety of jellyfish robots with different driving forms.But current studies mainly centralize within centimeter scale,medium sized jellyfish in Im diameter is fewer researched.Due to the good prospect in engineering application of medium sized jellyfish,this paper will research on the propulsion mechanism through the theoretical analysis and underwater experiment. With chardonnay jellyfish as the research object,this paper analysed the movement mechanism of chardonnay jellyfish,described the basic movement. Considering jellyfish propulsive movement,established the dynamic model of systolic and diastolic of bell-shaped structure,completed the dynamics analysis, analyzed the force under the underwater propulsion of jellyfish,and the method of decreasing the drag of propulsion. In bionics research,based on the analysis of the dynamics,jellyfish,designed the virtual prototype machine.The virtual prototype uses a servo motor to drive the six auxiliary tentacles,the six auxiliary antenna drive silicone skin cover with reciprocating swing,thus promote the bell-shaped structure similar to the jellyfish achieving the flexible silicone systolic and diastolic motion.Simulation software ADAMS was applied to simplified bell-shaped structure,and to complete the kinematics analysis,dynamics simulation,force situation analysis of machine jellyfish tentacles in the water,and to provide theoretical basis for the experiment. Designed the control system,based on the analysis of dynamics cleared the basic movement to implement.Machined and assemblied the bionic jellyfish experimental prototype,debugged and promoted the performance of the bionic machine jellyfish prototype experiments,Got the machine jellyfish underwater movement situation based on the experimental analysis.Results of the experiment were analyzed,and the experimental datas were obtained. 万方数据
哈尔滨工业大学工程硕士学位论文 Abstract As human’s exploration and development of ocean speeds up gradually, the unmanned underwater transfer system obtains fast development. Thereinto, machines based on fish and other aquatic organisms which motion with bionic propulsion system are receiving more and more attention. Compared to the traditional wave swimming fish, jellyfish has better flexibility, environmental adaptability and concealment of the target motion, and also has the mechanism with efficient utilization of the flow field energy, is suitable for underwater prototype machine of ocean dives, observation, target detection and weapon transportation. Propulsion mechanism about jellyfish actives in recent years, the researches have developed a variety of jellyfish robots with different driving forms. But current studies mainly centralize within centimeter scale, medium sized jellyfish in 1m diameter is fewer researched. Due to the good prospect in engineering application of medium sized jellyfish, this paper will research on the propulsion mechanism through the theoretical analysis and underwater experiment. With chardonnay jellyfish as the research object, this paper analysed the movement mechanism of chardonnay jellyfish, described the basic movement. Considering jellyfish propulsive movement, established the dynamic model of systolic and diastolic of bell-shaped structure, completed the dynamics analysis, analyzed the force under the underwater propulsion of jellyfish, and the method of decreasing the drag of propulsion. In bionics research, based on the analysis of the dynamics, jellyfish, designed the virtual prototype machine. The virtual prototype uses a servo motor to drive the six auxiliary tentacles, the six auxiliary antenna drive silicone skin cover with reciprocating swing, thus promote the bell-shaped structure similar to the jellyfish achieving the flexible silicone systolic and diastolic motion. Simulation software ADAMS was applied to simplified bell-shaped structure, and to complete the kinematics analysis, dynamics simulation, force situation analysis of machine jellyfish tentacles in the water, and to provide theoretical basis for the experiment. Designed the control system, based on the analysis of dynamics cleared the basic movement to implement. Machined and assemblied the bionic jellyfish experimental prototype, debugged and promoted the performance of the bionic machine jellyfish prototype experiments, Got the machine jellyfish underwater movement situation based on the experimental analysis. Results of the experiment were analyzed, and the experimental datas were obtained. - II - 万方数据