跃水机器海豚的模块化设计及动力学分析

论文总字数：34097字

摘 要

随着经济的飞速发展，人们对于能源的需求愈来愈大，仅仅是陆地上的资源已经不能够满足各界的需求，于是各国纷纷将目光投向海洋。但因为水下环境复杂，资源开采难度极大，于是仿生机器鱼应运而生。目前，国内外的机器鱼与机器海豚的研制成果仅局限于水下游动，实现出水运动的报道少之又少。本文从揭示机器海豚的游动机理出发，进行机器海豚的结构和布局设计，并对其结构进行仿真运动分析和相关的实验研究。

首先，查阅相关资料，对国内外机器鱼和机器海豚的研究现状进行了详细的了解，并且对机器海豚的仿生结构和推进机理进行了深入的研究，分析了鱼类以及海豚的游动模式，发现海豚游动模式与鱼类的鲹科加月牙尾式推进模式相似，采用身体波动与尾鳍摆动复合方式进行推进；其次，在机器海豚结构设计上分为头部、身体、尾部、尾鳍四个模块，对各个模块进行布局设计，进行重心评估和外壳设计，确定设计最终方案。

然后，建立机器海豚动力学模型，对机器海豚的调幅机构、正弦推进机构、尾部和尾鳍进行运动仿真，发现传动机构能够实现尾部驱动力矩的放大，得出调幅机构对于尾部和尾鳍的摆动幅度和摆动频率的影响，以及尾部和尾鳍机构的运动规律；最后，进行实验平台的搭建，开展实验研究，实现了机器海豚头部部分出水，得出机器海豚出水性能受摆动频率、摆动幅度、出水角度的影响规律。

本文完成了对机器海豚的结构和布局设计，并对机器海豚关键机构的进行运动仿真分析，又开展了相关的实验研究和分析，为机器海豚的理论分析和科学研究提供了有力的基础，并为新型跃水航行器的研制提供了科学依据。

关键词：机器海豚，运动学，正弦机构，实验研究，出水性能

Abstract

Due to the rapid development of economy, people's demand for energy is increasing. Only the resources on land can no longer meet the needs of people from all walks of life. Therefore, countries have turned their attention to the ocean. However, due to the complexity of the underwater environment, the exploitation of resources is extremely difficult, so the bionic robotic fish came into being. At present, the development of robotic and robotic dolphins at home and abroad has been limited to water movements, and there have been very few reports of effluent movements. In this paper, the structure and layout design of robot dolphin is carried out based on revealing the swimming mechanism of robotic dolphin, and its structure is simulated and related experimental research.

First of all, the relevant information was reviewed and the current research status of robotic and robotic dolphins at home and abroad was introduced in detail, and the bionic structure and propulsion mechanism of machine dolphins were thoroughly understood, and the swimming and dolphin swimming patterns were analyzed. It was found that the dolphin swimming mode is similar to that of the fish in the carp family plus the crescent tail type propulsion mode. It adopts body undulations to promote the caudal fins in a compounded manner; secondly, it is divided into four heads, bodies, tails, and caudal fins in the design of the dolphin structure. Modules, layout design for each module, center of gravity assessment and shell design, determine the final design plan.

Then, the dolphin dynamics model was established. The simulations of the machine's amplitude modulation mechanism, sinusoidal propulsion mechanism, tail and caudal fin were performed. It was found that the sinusoidal mechanism achieved the amplification of the rear drive torque, and the amplitude and swing of the amplitude modulation mechanism for the tail and caudal fins were obtained. The effect of frequency, and the movement of the tail and fin fin mechanism; Finally, the experiment platform was set up, and experimental research was conducted to realize the water exit from the head of the machine dolphins. The oscillating performance of the dolphins was affected by the swing frequency, swing amplitude and outlet angle. Influence the law.

This article has completed the structure and layout design of the robot dolphin, and carried out the movement simulation analysis of the key mechanism of the robot dolphin, and carried out related experimental research and analysis, which provided a strong foundation for the theoretical analysis and scientific research of the robot dolphin. It provides a scientific basis for the development of a new type of aircraft that out of the water.

KEYWORDS: Machine Dolphin，Kinematics，Sine Mechanism，Experimental Study，Water Performance

目 录

摘要 I

Abstract II

第一章 绪论 1

1.1 课题背景与研究意义 1

1.2 仿生机器鱼的国内外研究现状 1

1.2.1 仿生机器鱼的国外研究现状 2

1.2.2 仿生机器鱼的国内研究现状 3

1.3 仿生机器海豚的国内外研究现状 4

1.3.1 仿生机器海豚国外研究现状 4

1.3.2 仿生机器海豚国内研究现状 5

1.4 仿生机器海豚研究存在的问题 5

1.5 论文的主要研究内容 6

第二章 机器海豚结构的模块化设计 7

2.1 引言 7

2.2 鱼类的游动模式分析 7

2.1.1 其他鱼类的游动模式分析 7

2.1.2 海豚的游动模式分析 8

2.2 机器海豚结构的模块化设计 8

2.2.1 机器海豚头部模块设计 8

2.2.2 机器海豚身体模块设计 9

2.2.3 机器海豚尾部模块设计 13

2.2.4 机器海豚尾鳍模块设计 14

2.3 机器海豚布局设计 15

2.3.1 机器海豚整体浮力预估 15

2.3.2 机器海豚整体布局 15

2.3.3 机器海豚外壳设计 15

2.4 机器海豚方案确定和重心评估 16

2.5 本章小结 17

第三章 机器海豚动力学分析与仿真研究 18

3.1 引言 18

3.2 机器海豚动力学分析 18

3.3 机器海豚尾部运动与调幅机构仿真研究 21

3.3.1 摆动幅度对于尾部运动的影响 22

3.3.2 摆动频率对于尾部运动的影响 24

3.3.3 调幅机构力矩分析 25

3.4 机器海豚尾鳍运动仿真研究 27

3.4.1 摆动幅度对于尾鳍运动的影响 28

3.4.2 摆动频率对于尾鳍运动的影响 29

3.5 本章小结 30

第四章 机器海豚实验研究 31

4.1 引言 31

4.2 实验过程 31

4.2.1 搭建实验平台 31

4.2.2 实验准备过程 32

4.2.3 实验与数据分析 32

4.3 本章小结 34

第五章 总结与展望 35

5.1 总结 35

5.2 展望 36

致谢 37

参考文献 38

第一章 绪论

1.1 课题背景与研究意义

随着现代经济的飞速发展，全球各国家在资源利用、环境保护方面都出现了很大的问题。陆地上的现有的自然资源已经不能够满足人们的发展需求，为此人们需要更巨大的自然资源来源，而且地球的生态环境也已经遭到严重的破坏，环境保护问题也亟需解决。

在资源需求方面，地球上三分陆地，七分海洋，海洋是一切生物的发源地，并且那里蕴藏着极其丰富的矿物质类自然资源。但是由于海洋环境十分复杂，人们现有的水下探测技术还不是完全的成熟，人们只能够在陆地附近的沿海区域或者环境不复杂的浅水海域进行水下资源勘查与开采。因此水下机器人已经成为近年来全球科学界的一个研究热点，水下机器人不仅可以帮助人类进行水下环境的勘察，水下自然资源的开采，还可以有效地对水下复杂环境做出应对，大大降低了人类应对水下问题的难度。

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