多关节鱼形机器的设计论文[带图纸].doc -- 45 元

无锡太湖学院毕业设计（论文）相关资料题目多关节鱼形机器的设计信机系机械制造及自动化专业学号学生姓名指导教师（职称教授）2013年05月20日无锡太湖学院本科毕业设计（论文）诚信承诺书本人郑重声明所呈交的毕业设计（论文）多关节鱼形机器人的设计是本人在导师的指导下独立进行研究所取得的成果，其内容除了在毕业设计（论文）中特别加以标注引用，表示致谢的内容外，本毕业设计（论文）不包含任何其他个人、集体已发表或撰写的成果作品。班级机械91学号0923035作者姓名周跃2013年5月20日VIII摘要根据水下鱼形机器人的设计方案进行仿真，分析运动规律及校核机构。利用UG中三维建模、运动仿真及设计仿真等模块，对已经设计好的机器鱼进行系统仿真，并比较输出数值和计算数值的关系，从而完善设计过程。主要对机器鱼的四个部分进行分析，分别是驱动机构、沉浮机构、转向机构、充电机构。其中，驱动机构由尾部摆动机构实现，鱼身后半部和鱼尾的两节做有相位差的摆动，通过摆动来击打水从而推动鱼身前进。沉浮功能由鱼身前半部分的侧鳍通过转动一定角度来实现的。转向功能，由鱼身前半部分的鳍通过转动一定的角度来实现的，鳍与鱼身竖直方向的夹角的改变使其受到水的推动力的向左或者向右的分力，从而使鱼身可以绕其重心进行旋转。外形设计是根据金枪鱼的外形进行多次拟合而归纳而成的。最终对整个机器鱼进行配重，使重力中心和浮力中心在一条直线上，保证机器鱼能在水中平稳正常运动，同时控制模块中植入远程通信功能。关键词水下鱼形机器人运动仿真远程通信IXABSTRACTAccordingtotheunderwaterfishshapedrobottosimulatethedesign,analysisandverificationbodymovement.UGintheuseofthreedimensionalmodeling,motionsimulationanddesignofsimulationmodules,thefishhavebeendesignedmachinesystemsimulation,andcomparetheoutputvalueandthenumericalcalculation,inordertoimprovethedesignprocess.Themainfishmachineanalysisoffourparts,namelythedrivemechanism,upsanddownsmechanism,steering,chargingmechanism.Amongthem,thedrivemechanismfromtherearswinginstitutions,fishandfishtailbehindthefirsthalftherearetwooftheswingphase,throughtheswingtohitthewaterinordertopromotethefishforward.RiseandFallofthefunctionalfromthefirsthalfofthefishlateralfinsrotatethroughacertainangletoachieve.Shiftfunction,bythefishthroughthelatterpartofthepelvicrotationtoachieveacertainpointofview,theventralfinfishverticalwiththeanglebetweenthedirectionofchangetobethedrivingforceofwatertotheleftortherightoftheplay,sothatfishcanrotatearounditscenterofgravity.Designisbasedontheshapeoftunaandsummarizedanumberoffittingtogether.Eventuallythewholefishweightmachines,sothatcenterofgravityandbuoyancyinastraightline,thefishcanassureasmoothandnormalmovementinthewater.Controltotransplantlongrangecorrespondenceinthemoldpiecefunctioninthemeantime.KeywordsFishshapedunderwaterrobotmotionsimulationcommunicationX目录摘要........................................................................................................................................VIIIABSTRACT..................................................................................................................................IX第1章绪论...................................................................................................................................11.1引言.......................................................................................................................................11.2水下鱼形机器人技术的基本概念.......................................................................................11.2.1鱼类游动方式的分类....................................................................................................11.2.2仿鱼鳍机器鱼的特点....................................................................................................21.3仿生机器鱼研究概况...........................................................................................................21.4目前研究热点及未来发展方向...........................................................................................51.5本课题研究内容...................................................................................................................5第2章UG中运动仿真和有限元分析模块功能介绍................................................................72.1运动仿真介绍.......................................................................................................................72.1.1运动仿真模块................................................................................................................72.1.2运动仿真模块能执行何种类型分析............................................................................72.1.3如何创建运动仿真........................................................................................................72.1.4运动仿真的机构运动方式............................................................................................7第3章水下鱼形机器人机构确定.............................................................................................93.1沉浮机构的确定...................................................................................................................93.2转向机构的确定.................................................................................................................133.3舵机选择.............................................................................................................................133.4整体结构位置设计及外形确定.........................................................................................143.4.1整体结构尺寸确定......................................................................................................143.4.2外形结构尺寸确定......................................................................................................15第4章基于UG的鱼形机器人的运动仿真................................................错误未定义书签。4.1沉浮机构运动仿真.............................................................................................................174.1.1计算..............................................................................................................................174.1.2三维建模......................................................................................................................174.13最终结果分析...............................................................................................................184.2转向机构的运动仿真.........................................................................................................204.2.1计算..............................................................................................................................204.2.2三维模型......................................................................................................................204.2.3最终结果分析..............................................................................................................20第5章鱼形机器人远程通信...................................................................................................235.1通信模块的选用.................................................................................................................235.2具体实现.........................................................................................................................235.2.1系统总体设计...............................................................................................................235.2.2模块设计......................................................................................................................23