四關(guān)節(jié)仿生機(jī)器魚(yú)直線巡游和機(jī)動(dòng)轉(zhuǎn)向性能實(shí)驗(yàn)研究.pdf

1、中國(guó)科學(xué)技術(shù)大學(xué)碩士學(xué)位論文四關(guān)節(jié)仿生機(jī)器魚(yú)直線巡游和機(jī)動(dòng)轉(zhuǎn)向性能實(shí)驗(yàn)研究姓名：韓珍申請(qǐng)學(xué)位級(jí)別：碩士專業(yè)：精密儀器及機(jī)械指導(dǎo)教師：楊杰張世武20100501ABSTRACTThankstohundredsofbillionsyearsevolution，fisheshavepossessedastonishingswimmingabilityinwaterComparingwiththeconventionalunderwaterve

2、hicles，whosedynamicforcesareprovidedbyscrewpropellers，fishmovementshavefastercruisevelocitybettermaneuverabilityhigherthrustefficiencylowerenvironmentnoise，andotheradvantagesWiththedevelopmentofbionics，newmaterials，mecha

3、nicalmanufacture，computerscience，communicationtechnologyandthefurtherstudyonfishswimmingmechanismbythedomesticandoverseasscholars，researchingroboticfishprovidesnewideasfordevelopinglli曲effeciencyandvelocityunderwatervehi

4、clesTKsdissertationhascarriedoutaseriesofexperimentstostudythecruisingandturningperformanceoffourjointroboticfish，andmainlyanalyzesthecontrolparametersofroboticfishmovements，andprovidessomeeffectivemeasurestOimproverobot

5、icfishswimmingabilityInthisdissertation，theresearchdevelopmentsindomesticandoverseasareintroduced，relatingtotheswimmingmechanismaswellasthebiomimeticroboticfishThen，chaptertworeferstothedesignoffourjointsroboticfishinour

6、laboratorywhichincludesthestructuredesign，controlcircuitandthestrategydesignofcontr01Ontheaspectofthestructuredesign，Ourroboticfishadoptsmanyparticularbiomimeticdesignsforthepurposeofpromotingtheswimmingcapabilityandfulf

7、illsautonomouslyswimmingthroughselfdetectionandobstaclesavoidanceusinginfraredsensorsIIlthechapterthree。byexperimentalmeans，westudythecruisecapabilityofroboticfishTheresultssuggestthatthevariatyofeachparametercontrolling

8、theundulateoftailpartdifferentlyaffectthecruisevelocityinwhichespeciallythechangesoffrequency(f)ofundulateoftailpartandrelativewavelength(R)havesignificanteffectonthecruisevelocityChapterfourmainlyfocusesOiltheexperiment

9、alresearchonroboticfish’SturningmaneuverabilityFirst，theroboticfish’SmotionprocessisrecordedwithallighspeedcameraThen，byprocessingthesequentialswimmingimages，weCallextractthebackbonecurvesofroboticfishandobtainthedynamic