工学硕士学位论文 机器鱼柔性脊骨的仿真和实验研究 柴志坤 哈尔滨工业大学 2008年6月
工学硕士学位论文 机器鱼柔性脊骨的仿真和实验研究 柴志坤 哈尔滨工业大学 2008 年 6 月
国内图书分类号：TP242.6 国际图书分类号：621 工学硕士学位论文 机器鱼柔性脊骨的仿真和实验研究 硕士研究生：柴志坤 导 师：陈维山教授 申请学 位：工学硕士 学科、专业：机械电子工程 所在单位：机电工程学院 答辩日期：2008年6月 授予学位单位：哈尔滨工业大学
国内图书分类号：TP242.6 国际图书分类号：621 工学硕士学位论文 机器鱼柔性脊骨的仿真和实验研究 硕 士 研 究 生：柴志坤 导 师：陈维山 教授 申 请 学 位：工学硕士 学 科 、 专 业：机械电子工程 所 在 单 位：机电工程学院 答 辩 日 期：2008 年 6 月 授 予 学 位 单 位：哈尔滨工业大学
Classified Index:TP242.6 U.D.C.:621 Dissertation for the Master Degree in Engineering THE RESEARCH ON SIMULATION AND EXPERIMENT ABOUT THE FLEXIBLE SPINE OF ROBOT FISH Candidate: Chai Zhikun Supervisor: Prof.Chen Weishan Academic Degree Applied for: Master of Engineering Speciality: Mechatronics Engineering Affiliation: School of Mechatronics Engineering Date of Defence: June,2008 Degree-Conferring-Institution: Harbin Institute of Technology
Classified Index: TP242.6 U.D.C.: 621 Dissertation for the Master Degree in Engineering THE RESEARCH ON SIMULATION AND EXPERIMENT ABOUT THE FLEXIBLE SPINE OF ROBOT FISH Candidate： Chai Zhikun Supervisor： Prof. Chen Weishan Academic Degree Applied for： Master of Engineering Speciality： Mechatronics Engineering Affiliation： School of Mechatronics Engineering Date of Defence： June, 2008 Degree-Conferring-Institution： Harbin Institute of Technology
哈尔滨工业大学工学硕士学位论文 摘要 近年来，由于仿生机器鱼可以进行长时间、大范围、较复杂工况的水下 作业，可以用于机动性能要求较高的场合，也可以进行海洋生物考察、海底 勘探和海洋救生等许多场合，所以，具有快速、高效巡航游动以及高机动性 鲹科鱼类引起了国内外学术界的广泛关注。本课题依托国家自然基金项目 “仿鱼鳍水下推进器的理论与实验研究”，对鲹科推进模式鱼类的仿生机器 鱼进行运动学模型的建立和新型柔性脊骨结构的设计分析。 本文进行了鲹科鱼运动学的理论研究和柔性脊骨的优化设计。以鲹科推 进模式鱼类为研究对象，将鲤鱼作为鲹科鱼的代表，取其游动图像进行处理 和分析，建立机器鱼一维稳态直线游动的运动学模型。并借助Matlab软件 对该运动模型进行仿真分析和验证。以机器鱼一维稳态直线游动的运动学模 型为基础，采用参数优化设计方法，对鲹科推进模式机器鱼的柔性脊骨结构 进行优化设计。根据参数优化设计，得出柔性脊骨比刚性脊骨能够更好复现 运动学模型曲线的优越性。 在理论分析和优化设计的基础上，对柔性脊骨进行了仿真分析和实验研 究。运用ANSYS有限元分析软件，依据六关节柔性脊骨的优化设计尺寸， 建立有限元模型，并分析其摆动姿态和力学性能。通过变形姿态分析，验证 了柔性脊骨有限元模型能够正确的复现运动学模型。通过静力分析，改进了 柔性脊骨的厚度尺寸序列。通过瞬态动力学分析，得到机器鱼柔性脊骨侧向 位移和弹性回复力的动态关系特性。依据理论分析和仿真分析的结果，设计 加工了柔性脊骨实体，并对其进行了变形姿态和静力实验。通过实验验证了 本文运动学模型、优化设计和仿真分析的正确性和合理性。 本文通过理论研究、优化设计、仿真分析和实验研究相结合的研究方 法，建立了鲹科鱼类的运动学模型，得到了机器鱼柔性脊骨的优化结构及其 相关变形和力学特性，为机器鱼的后续研究打下了基础。 关键词柔性脊骨：运动学模型：参数优化设计：仿真分析 -I-
哈尔滨工业大学工学硕士学位论文 - I - 摘 要 近年来，由于仿生机器鱼可以进行长时间、大范围、较复杂工况的水下 作业，可以用于机动性能要求较高的场合，也可以进行海洋生物考察、海底 勘探和海洋救生等许多场合，所以，具有快速、高效巡航游动以及高机动性 鲹科鱼类引起了国内外学术界的广泛关注。本课题依托国家自然基金项目 “仿鱼鳍水下推进器的理论与实验研究”，对鲹科推进模式鱼类的仿生机器 鱼进行运动学模型的建立和新型柔性脊骨结构的设计分析。 本文进行了鲹科鱼运动学的理论研究和柔性脊骨的优化设计。以鲹科推 进模式鱼类为研究对象，将鲤鱼作为鲹科鱼的代表，取其游动图像进行处理 和分析，建立机器鱼一维稳态直线游动的运动学模型。并借助 Matlab 软件 对该运动模型进行仿真分析和验证。以机器鱼一维稳态直线游动的运动学模 型为基础，采用参数优化设计方法，对鲹科推进模式机器鱼的柔性脊骨结构 进行优化设计。根据参数优化设计，得出柔性脊骨比刚性脊骨能够更好复现 运动学模型曲线的优越性。 在理论分析和优化设计的基础上，对柔性脊骨进行了仿真分析和实验研 究。运用 ANSYS 有限元分析软件，依据六关节柔性脊骨的优化设计尺寸， 建立有限元模型，并分析其摆动姿态和力学性能。通过变形姿态分析，验证 了柔性脊骨有限元模型能够正确的复现运动学模型。通过静力分析，改进了 柔性脊骨的厚度尺寸序列。通过瞬态动力学分析，得到机器鱼柔性脊骨侧向 位移和弹性回复力的动态关系特性。依据理论分析和仿真分析的结果，设计 加工了柔性脊骨实体，并对其进行了变形姿态和静力实验。通过实验验证了 本文运动学模型、优化设计和仿真分析的正确性和合理性。 本文通过理论研究、优化设计、仿真分析和实验研究相结合的研究方 法，建立了鲹科鱼类的运动学模型，得到了机器鱼柔性脊骨的优化结构及其 相关变形和力学特性，为机器鱼的后续研究打下了基础。 关键词 柔性脊骨；运动学模型；参数优化设计；仿真分析
哈尔滨工业大学工学硕士学位论文 Abstract At the present time,the swimming theory of the fish that has the ability of quick speed and high efficiency on swimming is a focus of the researcher.The fish-like submarine propeller could be used in the underwater environment for a long time,wide-range and complex condition.Moreover,it can be used on the situation for high flexibility request,the research on the ocean life,ocean observation and life saving.It has very high value of application.Depends on the National Natural Science Fund,the research of simulation and experimentation on flexible spine of the fish-like robot are developed in this paper. The research of the thunniform mode fish and optimization of the flexible spine is analyzed at first.The research object of this paper is the thunniform mode fish.Depends on the picture disposal of the swimming carp and analyzing, the kinematic model of this propulsion mode is set up.Using engineering and numerical analysis software Matlab for simulations of the model are carried out, so as to prove the rightness of the kinematic model.Based on the kinematic model,the optimization design of the flexible spine's three-dimensional size is carried out with the method of the parameter optimization.From the result of the parameter optimization,the conclusion of flexible spine can be better close to the theory curve than the rigidity spine can be got. Depends on the analyzing of kinematics and optimization,the simulating analyzing and experimenting is carried out.Using software ANSYS for finite element simulation analyzing,based on the optimization design size of six link flexible spine,build the finite element simulation model and analyze the moving pose and force capability of the flexible spine.Depends on the analyzing,the finite element simulation model of the flexible spine can be moving as same as the kinematic model could be proved.By static analyzing,the thickness of every link of the flexible spine is improved.Design and fabricate the entity of the flexible spine,and do the distortion and static experiment on it.Via experimental research,the rightness and rationality of the kinematic model of the thunniform mode fish,the optimization design and simulation analyzing of the flexible spine are proved. -Ⅱ
哈尔滨工业大学工学硕士学位论文 - II - Abstract At the present time, the swimming theory of the fish that has the ability of quick speed and high efficiency on swimming is a focus of the researcher. The fish-like submarine propeller could be used in the underwater environment for a long time, wide-range and complex condition. Moreover, it can be used on the situation for high flexibility request, the research on the ocean life, ocean observation and life saving. It has very high value of application. Depends on the National Natural Science Fund, the research of simulation and experimentation on flexible spine of the fish-like robot are developed in this paper. The research of the thunniform mode fish and optimization of the flexible spine is analyzed at first .The research object of this paper is the thunniform mode fish. Depends on the picture disposal of the swimming carp and analyzing, the kinematic model of this propulsion mode is set up. Using engineering and numerical analysis software Matlab for simulations of the model are carried out, so as to prove the rightness of the kinematic model. Based on the kinematic model, the optimization design of the flexible spine’s three-dimensional size is carried out with the method of the parameter optimization. From the result of the parameter optimization, the conclusion of flexible spine can be better close to the theory curve than the rigidity spine can be got. Depends on the analyzing of kinematics and optimization, the simulating analyzing and experimenting is carried out. Using software ANSYS for finite element simulation analyzing, based on the optimization design size of six link flexible spine, build the finite element simulation model and analyze the moving pose and force capability of the flexible spine. Depends on the analyzing, the finite element simulation model of the flexible spine can be moving as same as the kinematic model could be proved. By static analyzing, the thickness of every link of the flexible spine is improved. Design and fabricate the entity of the flexible spine, and do the distortion and static experiment on it. Via experimental research, the rightness and rationality of the kinematic model of the thunniform mode fish, the optimization design and simulation analyzing of the flexible spine are proved