硕士学位论文 仿生鳐鱼的结构设计与实验研究 (学术型) STRUCTURE DESIGN AND EXPERIMENTAL RESEARCH OF BIOMIMETIC RAYS (ACADEMIC) 高帅 哈尔滨工业大学 2014年7月 万方数据
硕士学位论文 仿生鳐鱼的结构设计与实验研究 （学术型） STRUCTURE DESIGN AND EXPERIMENTAL RESEARCH OF BIOMIMETIC RAYS (ACADEMIC) 高帅 哈尔滨工业大学 2014 年 7 月 万方数据
国内图书分类号：TP552 学校代码：10213 国际图书分类号：621 密级：公开 工学硕士学位论文 仿生鳐鱼的结构设计与实验研究 (学术型) 硕士研究生：高帅 导 师：石胜君副教授 申请学位：工学硕士 学 科：机械电子工程 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：TP552 学校代码：10213 国际图书分类号：621 密级：公开 工学硕士学位论文 仿生鳐鱼的结构设计与实验研究 （学术型） 硕士研究生：高 帅 导 师：石胜君 副教授 申请学位：工学硕士 学 科：机械电子工程 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:TP552 U.D.C:621 Dissertation for the Master Degree in Engineering STRUCTURE DESIGN AND EXPERIMENTAL RESEARCH OF BIOMIMETIC RAYS (ACADEMIC) Candidate: Gao Shuai Supervisor: Associate Prof.Shi Shengjun Academic Degree Applied for: Master of Engineering Speciality: Mechanical and Electronic Engineering Affiliation: School of Mechatronics Engineering Date of Defence: July,2014 Degree-Conferring-Institution: Harbin Institute of Technology 万方数据
Classified Index: TP552 U.D.C: 621 Dissertation for the Master Degree in Engineering STRUCTURE DESIGN AND EXPERIMENTAL RESEARCH OF BIOMIMETIC RAYS (ACADEMIC) Candidate： Gao Shuai Supervisor： Associate Prof. Shi Shengjun Academic Degree Applied for： Master of Engineering Speciality： Mechanical and Electronic Engineering Affiliation： School of Mechatronics Engineering Date of Defence： July, 2014 Degree-Conferring-Institution： Harbin Institute of Technology 万方数据
哈尔滨工业大学工学硕士学位论文 摘要 由于陆地资源和空间日益枯竭的现实背景以及人类活动空间不断扩大的需要， 人类开始将开发和探索的目光转向了海洋，这一现实需要必将大大促进水下推进 器的发展。 以鳐鱼为代表的波动鳍推进模式的鱼类在隐蔽性、机动性方面具有超凡的优 越性，而目前针对鳐鱼的仿生学研究又较少，本文以鳐鱼为仿生对象，设计了一 套仿生鳐鱼推进系统，并通过实验研究波动鳍推进方式的可行性以及优越性。 本文以现有的鳐鱼仿生研究成果为基础，通过已建立的鳐鱼物理学模型、运 动学模型以及动力学模型，以机动性、低扰动性等性能为设计目标，设计了一套 仿生鳐鱼实验装置，重点解决了仿生实验装置的结构设计、防水密封、重力和浮 力计算以及质量分布等问题。该实验装置能在水中保持正确姿态，可在水中实现 推进、转弯、逆向游动等功能，很好地实现了对鳐鱼胸鳍波动运动的模仿。 本文以现有的鳐鱼水动力学仿真结果为依据，设计实验分析了鳐鱼波动频率、 胸鳍波数以及波动振幅等关键参数对鳐鱼推进性能以及转弯和逆向游动等机动特 性的影响，通过控制变量法分别研究了上述关键参数对推进速度、系统推进力和 平均转弯角速度等主要性能指标的作用和影响，证明了波动推进方式的可行性以 及该类推进方式在机动性方面的优越性。 关键词：仿生鳐鱼：实验研究：推进性能：机动性能 万方数据
哈尔滨工业大学工学硕士学位论文 -I- 摘要 由于陆地资源和空间日益枯竭的现实背景以及人类活动空间不断扩大的需要， 人类开始将开发和探索的目光转向了海洋，这一现实需要必将大大促进水下推进 器的发展。 以鳐鱼为代表的波动鳍推进模式的鱼类在隐蔽性、机动性方面具有超凡的优 越性，而目前针对鳐鱼的仿生学研究又较少，本文以鳐鱼为仿生对象，设计了一 套仿生鳐鱼推进系统，并通过实验研究波动鳍推进方式的可行性以及优越性。 本文以现有的鳐鱼仿生研究成果为基础，通过已建立的鳐鱼物理学模型、运 动学模型以及动力学模型，以机动性、低扰动性等性能为设计目标，设计了一套 仿生鳐鱼实验装置，重点解决了仿生实验装置的结构设计、防水密封、重力和浮 力计算以及质量分布等问题。该实验装置能在水中保持正确姿态，可在水中实现 推进、转弯、逆向游动等功能，很好地实现了对鳐鱼胸鳍波动运动的模仿。 本文以现有的鳐鱼水动力学仿真结果为依据，设计实验分析了鳐鱼波动频率、 胸鳍波数以及波动振幅等关键参数对鳐鱼推进性能以及转弯和逆向游动等机动特 性的影响，通过控制变量法分别研究了上述关键参数对推进速度、系统推进力和 平均转弯角速度等主要性能指标的作用和影响，证明了波动推进方式的可行性以 及该类推进方式在机动性方面的优越性。 关键词：仿生鳐鱼；实验研究；推进性能；机动性能 万方数据
哈尔滨工业大学工学硕士学位论文 Abstract Due to the reality of the increasing depletion of land resources and the expanding needs of human activity space,human began to turn to develop and explore the ocean which will greatly promote the development of underwater propulsion.The pectoral fin-propelled fish,representative by rays,are characterized by extraordinary superiority in concealment and maneuverability and bionics research on batoid can not match the practical needs of reality.This article will choose batoid as the bionic object and design a bionic pectoral fin-propelled propulsion system to verify the feasibility and superiority of fin-propelled propulsion by experiment. This paper will design a bionic-batoid experimental device on the basis of existing bionic research on batoid which contains the existing physical model,kinematic model and dynamic model,focused on solving the key issues of structural design,waterproof seal,the calculation of gravity and buoyancy.The experimental propulsion system can maintain a proper position in the water and realize the bionic movement of batoid. This paper,on the basis of existing results of hydrodynamic simulation on batoid, design experiments to analyze the effect of the key parameters such as frequency of fluctuation,wave number and amplitude of fluctuation on performance of the bionic batoid and investigate the influence of key parameters on key performance indicators such as the speed of propulsion,the propulsion of system,the turning radius and the average velocity of turning angular.The research in this paper verify the correctness of the simulation results and prove the feasibility and superiority of fin-propelled propulsion. Key words:bionic batoid,experimental study,propulsion performance,mobilit 万方数据
哈尔滨工业大学工学硕士学位论文 -IIAbstract Due to the reality of the increasing depletion of land resources and the expanding needs of human activity space, human began to turn to develop and explore the ocean, which will greatly promote the development of underwater propulsion. The pectoral fin-propelled fish, representative by rays, are characterized by extraordinary superiority in concealment and maneuverability and bionics research on batoid can not match the practical needs of reality. This article will choose batoid as the bionic object and design a bionic pectoral fin-propelled propulsion system to verify the feasibility and superiority of fin-propelled propulsion by experiment. This paper will design a bionic-batoid experimental device on the basis of existing bionic research on batoid which contains the existing physical model, kinematic model and dynamic model, focused on solving the key issues of structural design, waterproof seal, the calculation of gravity and buoyancy. The experimental propulsion system can maintain a proper position in the water and realize the bionic movement of batoid. This paper, on the basis of existing results of hydrodynamic simulation on batoid, design experiments to analyze the effect of the key parameters such as frequency of fluctuation, wave number and amplitude of fluctuation on performance of the bionic batoid and investigate the influence of key parameters on key performance indicators such as the speed of propulsion, the propulsion of system, the turning radius and the average velocity of turning angular. The research in this paper verify the correctness of the simulation results and prove the feasibility and superiority of fin-propelled propulsion. Key words: bionic batoid, experimental study, propulsion performance, mobilit 万方数据