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机床刀具设计机械类毕业设计外文文献中英文翻译.doc

多关节鱼形机器人设计【3D-UG】【7张CAD图纸和说明书】

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关键词：: 关节鱼形机器人设计 3d-ug 7张 cad 图纸说明书

资源描述：

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

ABSTRACT

According to the underwater fish-shaped robot to simulate the design, analysis and verification body movement. UG in the use of three-dimensional modeling, motion simulation and design of simulation modules, the fish have been designed machine system simulation, and compare the output value and the numerical calculation, in order to improve the design process. The main fish-machine analysis of four parts, namely the drive mechanism, ups and downs mechanism, steering, charging mechanism. Among them, the drive mechanism from the rear swing institutions, fish and fish tail behind the first half there are two of the swing phase, through the swing to hit the water in order to promote the fish forward. Rise and Fall of the functional from the first half of the fish lateral fins rotate through a certain angle to achieve. Shift function, by the fish through the latter part of the pelvic rotation to achieve a certain point of view, the ventral fin fish vertical with the angle between the direction of change to be the driving force of water to the left or the right of the play, so that fish can rotate around its center of gravity. Design is based on the shape of tuna and summarized a number of fitting together. Eventually the whole fish weight machines, so that center of gravity and buoyancy in a straight line, the fish can assure a smooth and normal movement in the water. Control to transplant long range correspondence in the mold piece function in the meantime.

Keywords: Fish-shaped underwater robot; motion simulation; communication

摘要 III

ABSTRACT IV

第1章绪论 1

1.1 引言 1

1.2 水下鱼形机器人技术的基本概念 1

1.2.1 鱼类游动方式的分类 1

1.2.2 仿鱼鳍机器鱼的特点 2

1.3 仿生机器鱼研究概况 2

1.4 目前研究热点及未来发展方向 5

1.5 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 7

2.1 运动仿真介绍 7

2.1.1 运动仿真模块 7

2.1.2 运动仿真模块能执行何种类型分析 7

2.1.3 如何创建运动仿真 7

2.1.4 运动仿真的机构运动方式 8

第3章水下鱼形机器人机构确定 9

3.1 沉浮机构的确定 9

3.2 转向机构的确定 13

3.3 舵机选择 13

3.4 整体结构位置设计及外形确定 14

3.4.1 整体结构尺寸确定 14

3.4.2 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 16

4.1沉浮机构运动仿真 17

4.1.1 计算 17

4.1.2 三维建模 17

4.13 最终结果分析 18

4.2 转向机构的运动仿真 20

4.2.1 计算 20

4.2.2 三维模型 20

4.2.3 最终结果分析 20

第5章鱼形机器人远程通信 23

5.1 通信模块的选用 23

5.2 具体实现 23

5.2.1系统总体设计 23

5.2.2 模块设计 23

5.2.3软件设计 24

第6章基于UG的鱼形机器人动力学分析 26

6.1 机器鱼浮力中心和重力中心的估算 26

6.2 基于UG的机器鱼浮力中心和重力中心计算 28

6.2.1 浮力计算 28

6.2.2 重力计算 28

第7章结论与展望 30

7.1 结论 30

7.2 不足之处及未来展望 30

参考文献 31

第1章绪论

1.1 引言

随着人类的发展，对资源的需求不断增加。陆上资源的日益紧缺，让我们把目光投向海洋。21世纪是海洋开发的世纪，水下机器人在海洋环境研究、海洋资源探测和开发等民用领域和海洋军事方面具有广阔的应用前景和巨大的潜在价值，吸引了人们更多的注意力。利用仿生学原理，开发类似海豚或金枪鱼的操纵与推进技术是一个很有前途的研究方向之一。

上世纪三十年代起，人类开始对鱼类游动进行观察，提出了大量关于鱼类游动机理的解释。近年来，随着人类对鱼类游动机理了解的加深，同时伴随着仿生学、流体力学、机器人学的进步，计算机、传感器和智能控制技术的快速发展，以及新型材料的不断涌现，对仿生水下机器人技术的研究达到了一个新的顶峰，涌现了大量基于鱼类游动机理的仿生水下机器人。

1.2 水下鱼形机器人技术的基本概念

1.2.1 鱼类游动方式的分类

鱼类游动方式多种多样，1926年Breder根据鱼类推进运动的特征不同，将鱼类游动方式划分为两大类:

1)身体(和/或)尾鳍推进(BCF locomotion);

2)中间鳍(和/或)对鳍推进(MPF locomotion).

当然鱼类还有其它运动方式，如喷流推进、滑行等。据估计，大约只有15%的鱼类采用第一种方式以外的其它方式推进。由于MPF推进方式速度慢、效率低，因此我们把重点放在研究BCF推进方式上。Breder将BCF推进继续细化为五种，如图1.1所示。图中反映了不同推进方式下鱼体推进部分的变化。

图1.1 BCF推进

图1. l中鲹科结合月牙形尾鳍推进方式（Thunniform）是效率最高、速度最快的推进方式，海洋中游速最快的“鱼类”（金枪鱼、海豚、鲨鱼）都采用该种方式。

该方式中推进运动限制在身体后三分之一，仅通过尾部(坚硬的月牙形尾鳍和尾柄)的运动产生超过90%的推力;同时鱼体的形状和重量分布保证了身体前三分之二横向移动和转轴极小。在游动过程中，月牙形尾鳍做横移和左右摆动(或升沉和上下摆动)的一种复合运动，并随着鱼体前进划出波浪形的轨迹。研究表明，月牙形尾鳍的展弦比、形状、硬度、摆动都对该推进方式的效率产生影响。

由于相比之下具有高速、高效的特点，结合月牙形尾鳍推进方式很适合用于水下机器人。目前，己有多个机器人较成功的采用了这种方式。

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内容简介：: 英语原文：Design Of Tool Machine Prop Research significanceThe original knife machine control procedures are designed individually, not used tool management system, features a single comparison, the knife only has to find the tool knife, knife positioning the shortest path, axis tool change, but does not support large-scale tool. Automatic knife in the knife election, in the computer memory knife-election on the basis of using the Siemens 840 D features, and the election procedures knife more concise, and complete the space Daotao View. ATC use the knife rapid completion of STEP-7 programming, and have been tested in practice. In the positioning of the knife, PLC controlled modular design method, which future production of similar machines will be very beneficial, it is easy to use its other machine. Automatic tool change systems will be faster growth, reduced tool change time, increase the positioning accuracy tool is an important means to help NC technology development. Tool and inventory components of modern production is an important link in the management, especially for large workshop management. The traditional way of account management, and low efficiency, high error rate, and not sharing information and data, tools and the use of state can not track the life cycle, are unable to meet the current information management needs. With actual production, we have to establish a workshop tool for the three-dimensional tool storage system to meet the knife workshop with auxiliary storage and management needs. The system uses optimization technology, a large number of computer storage inventory information, timely, accurate, and comprehensive tool to reflect the inventory situation. The entire system uses a graphical interface, man-machine dialogue tips from the Chinese menu, select various functions can be realized and the importation of all kinds of information. Management system using online help function. Through the workshop management, network management and sharing of information. Have automated inventory management, warehousing management tool, a tool for the management and statistical functions.1.System components and control structureThe entire system, including the structure and electrical machinery control systems.1.1.1Mechanical structure and working principleTool from the stent, drive, drive system, Turret, shielding, control system, and electrical components. Support from the column, beam, the upper and lower guide Central track, and track support component. 1) Drive for the system chosen VVVF method. Cone used brake motors, with VVVF by Cycloid reducer through sprocket drive. 2) Drag a variable frequency drive system and control technology. VVVF adopted, will speed drive shaft in the normal range adjustment to control the speed rotary turret to 5 30mm in, the drive shaft into two, two under through sprocket, the two profiled rollers Chain driven rotating shelves. Expansion chain adopted by the thread tight regulation swelling, swelling the regular way. - Conditioned, under the same chain-of-conditioning, so that the chain of uniform. 3) Turret and shields the entire total of 14 independent Turret. 13 of them as a socket-Turret, as a drawer-Turret, each Turret back through the pin and, under the conveyor chain link chain plate, installed at the bottom roller, chain driven rotating turret rotation along the track. Outlet-Turret and BT50-BT40 Turret Turret two kinds of forms. To strengthen management, security, landscaping modeling, shelf peripherals and shields. Turret-drawer drawer placed at six other Des Voeux a knife, can be categorized with some of knife auxiliary equipment, such as bits, such as turning tools.1.1.2.Electrical Control SystemThis tool storage systems is the main electrical control their shelves for operational control and position control. Operational control equipment, including operation of the start of braking control. Position Control is the main location and address of the shelves for testing. Control system as shown in Figure 1.图 1 Tool Control System for the1) Electric Transmission horizontal rotary tool storage systems are the mechanical movements are repeated short-term work system. And the run-time system needs some speed, speed transmission needs, the system will use VVVF method can be used simple structure, reliable operation of the motor and frequency inverter. 2) Control of the system is divided into two kinds of manual control and automatic control, manual control as a general reserve and debugging methods of work; ways to the system control computer (IPC) and the control unit (inverter contactor , etc.) consisting of a control system. 3) location and positioning accuracy of the system automatically identify the site and location using a detection device as proximity switches, relays through the plate-point isolation and the number plate recorded close to the switching signal acquisition and operation of Hutchison with a Optimal Path addressable identify the current location and shelves of the purpose of the shelf location. In order to enable a more accurate positioning system, adopted two photoelectric switches, to detect the two shelves of the two films.1.2.The functions of the knifeknife The is the role of reserves a certain number of tools, machine tool spindle in hand to achieve the fungibility a disc cutter knife is the type of library, the chain knives, and other means, in the form of the knife and capacity according to the Machine Tool to determine the scope of the process.1.3.Common typesThe knife is a tool storage devices, the common knife mainly in the following forms: (1) the turret knife Including the first level turret vertical turret and the first two, see Figure 2.6 a) and b):(2) the disc cutter Disc knife in the library with discoid knife, cutting tool along See how vertical arrangement (including radial and axial from knife from knife), along See how radial array into acute or arranged in the form of the knife. Simple, compact, more applications, but are ring-cutter, low utilization of space. Figure 2.7 a) to c). If the knife storage capacity must be increased to increase the diameter of the knife, then the moment of inertia also increased correspondingly, the election campaign long knife. Tool number not more than 32 general. Cutter was multi-loop order of the space utilization knife, but inevitably given the knife from complex institutions, applicable to the restricted space Machine Tool storage capacity and more occasions. Two-disc structure is two smaller capacity knife on both sides of the sub-spindle place, more compact layout, the number of certificates corresponding increase knife, apply to small and medium-sized processing center.(3) the chain knife Including single-and multi-ring chain ring chain, chain link can take many forms change, see Figure 2.8 a) to c), the basic structure shown in Figure 2. 8 do Features: knife apply to the larger capacity of the occasion, the space of the small number of generally applicable to the tool in the 30-120. Only increase the length of the chain tool will increase the number should not be increased circumferential speed of its moment of inertia of the knife does not increase the disc as large.(4) linear combination knife and the knife library The linear knife simple structure in Figure 2.9, tool single order, the capacity of small knife, used for CNC lathe and drill press on. Because the location of fixed knife, ATC completed action by the spindle without manipulator. The cutter knife is generally the turret combination turret with a combination of the disc cutter knife and the chain combination. Every single knife the knife certificates of smaller, faster tool change. There are also some intensive drum wheel, and the lattice-type magazine for the knife, the knife-intensive though. Small footprint, but because of structural constraints, basically not used for single processing center, the concentration used for FMS for the knife system.1.4 Tool storage capacityTool storage capacity of the first to consider the needs of processing, from the use of point of view, generally 10 to 40 knives, knife will be the utilization of the high, and the structure is compact.1.5 Tool options(1) choose to order processing tool according to the order, followed Add to the knife every knife in the Block. Each tool change, the order of rotation of a cutter knife on location, and remove the need knives, has been used by the cutter knife can be returned to the original Block, can also order Add Block, a knife. However, as the knife in the tool in different processes can not be repeated use of the knife must increase the capacity and lower utilization rate. (2) most of the arbitrary choice of the current system of using arbitrary NC election knives, divided into Daotao coding, coding and memory-cutter, three. Daotao coding tool code or knives or Daotao need to install the code used to identify, in accordance with the general principle of binary coding coding. Tool knife election coding method uses a special knife handle structure, and each of the coding tool. Each of the tool has its own code, thereby cutting tool can be in different processes repeatedly used, not to replace the tool back at the original knife, the knife capacity can be reduced accordingly. Memory-election this paper knife, in this way can knives and knife in the position corresponding to the Daotao memory of the PLC in the NC system, no matter which tool on the Inner knife, tool information is always there in mind, PLC . On the knife with position detection devices, will be the location of each Daotao. This tool can be removed and sent back to arbitrary. On the knife is also a mechanical origin, every election, the nearest knife selection. 1.6. Control of the knife (1) the knife as a system to control the positioning axis. In the ladder diagram in accordance with the instructions for computing T code comparison of the output angle and speed of instructions to the knife the knife servo drive servo motor. Tool storage capacity, rotation speed, and / deceleration time, and other system parameters can be set in such a manner free from any outside influence positioning accurate and reliable but the cost is higher. (2) knife from the hydraulic motor drives, fast / slow the points, with proximity switches count and positioning. In comparison ladder diagram of the current storage system knife (knife spindle) and goals knife (pre-knife) and computing, then output rotation instructions, judging by the shortest path rotation in place. This approach requires sufficient hydraulic power and electromagnetic valve knife the rotational speed can be adjusted through the throttle. But over time may be oily hydraulic, oil temperature and environmental factors impact the change in velocity and accuracy. Not generally used in large and medium-sized machine tool change frequently. (3) the knife from AC asynchronous motor driven cam mechanism (Markov institutions), with proximity switches count, which means stable operation, and generally accurate and reliable positioning cam used in conjunction with a mechanical hand, ATC fast-positioning.2. ATC, the main types, characteristics, and the scope of application2.1 Auto Rotary ToolRotary Tool automatically on the use of CNC machine tool is a simple installation of automatic tool change, the Quartet and 47.60 Turret Tool various forms, such as rotary turret were installed on four, six or more of the Tool , NC instructions by ATC. Rotary Tool has two vertical and horizontal, relatively simple structure, applicable to economic CNC lathe. Rotary Tool in the structure must have good strength and stiffness, resistance to bear rough Cutting Tool in the cutting force and reduce the role of deformation and improve processing accuracy. Rotating Tool to choose reliable positioning programme structure and reasonable position, in order to ensure that each rotary turret to a higher position after repeated positioning accuracy (typically 0.001 to 0.005mm). Figure 2.1 shows the spiral movements of the Quartet Turret.Auto Rotary Tool in the simplest of ATC, is 180 rotary ATC devices, as shown in Figure 2.2 ATC instructions received, the machine control system put ATC spindle control to the designated location at the same time, the tool movement to the appropriate location, ATC, with the rotary axis and at the same time, the knives matching tool; drawbars from Spindle Cutting Tools rip, ATC, will be the tool from their position removed; ATC, 180 rotary tool spindle and the tool and tool away; ATC, the Rotary At the same time, the tool refocusing its position to accept Spindle removed from the cutting tool; Next, ATC, will be replaced with the cutter knives were unloaded into the spindle and tool: Finally, back to the original ATC, standby position. At this point, ATC completed procedures to continue to run. This ATC, the main advantage of simple structure, the less movement, fast tool change. The main disadvantage is that knives must be kept in parallel with the axis of the plane, and after the home side compared to the tool, chip and liquid-cutting knife into the folder, it is necessary to the tool plus protection. Cone knife folder on the chip will cause ATC error, or even damage knife folders, and the possibility of spindle. Some processing centre at the transfer, and the tool side. When the ATC command is called, the transfer-cutter knives will be removed, the machine go forward, and positioning with the ATC, in line with the position. 180 Rotary ATC devices can be used horizontal machine, can also be used for vertical machining centers.2. 2 ATC head-turret installedWith rotating CNC machine tool often used such ATC devices, with a few turret head spindle, each with a spindle on both knives, the first tower interim process can be automatic tool change-realization. The advantage is simple structure, tool change time is short, only about 2 s. However, due to spatial constraints, the number of spindle can not be too much, usually only apply to processes less, not to high precision machine tools, such as the NC drill, such as CNC milling machine. In recent years there has been a mechanical hand and the turret head with a knife for the automatic tool change ATC devices, as shown in Figure 2.3. It is in fact a turret head ATC, and the knife-ATC device combination. The principle is as follows:5 turret on the first two tool spindle 3 and 4, when using the tool spindle 4 processing tool, the manipulator 2 will be the next step to the need for the tool does not work on the tool spindle 3 until after the completion of this process , the first rotary turret 180 , ATC completed. ATC most of their time and processing time coincidence, the only real tool change time turret transposition of the first time, this approach mainly used for ATC and NC NC drilling file bed.2. 3.Daidao system for the automatic tool changeFigure 2.4 shows the knife and the whole machine tool CNC machine tools for the appearance of Fig. Figure 2.5 shows the knife and split-type machine to the appearance of CNC machine tool plans. At this point, knife storage capacity, a heavier tool can, and often additional transport unit to complete the knife between the spindle and cutting tool transport. Daidao the knife from the ATC, the election knives, automatic loading and unloading machine tool and tool exchange institutions (manipulator), composed of four parts, used widely. Tool Automatic Tool Change the manipulator system, the whole process more complicated ATC. We must first used in the processing of all installed in the standard tool on the knife handle in the machine outside the pre-size, according to a certain way Add to the knife. ATC, selected first in the knife knife, and then from ATC, from the knife from the knife or spindle, exchange, the new knife into the spindle, the old knife back into the knife. ATC, as the former two knives to accommodate a limited number can not be too many, can not meet the needs of complex parts machining, CNC machine tool Automatic Tool Change Daidao the use of the automatic tool change devices. The knife has more capacity, both installed in the spindle box side or above. As for the automatic tool change Daidao device CNC machine tool spindle box only a spindle, spindle components to high stiffness to meet the machining requirements. The number of establishments in larger knife, which can meet the more complex parts of the machining processes, significantly improving productivity. Daidao system for the automatic tool change applied to drilling centres and CNC machining centers. The comparison drawn Daidao automatic tool change system is the most promising. 3.PLC control of the knife random mode of election3. 1Common methods of automatic election knifeAutomatic control of the knife CNC refers to the system after the implementation of user instructions on the knife library automation process, including the process to find knives and automatic tool change (63,71. CNC Machining Center device (CNC) directive issued by the election knife , a knife, the tool required to take the knife position, said the election automatic knife. automatically elected knife There are two ways: random sequence election knives and knife election method.3.1.1 order election knifeTool Selection order is the process tool according to the sequence of the insert knife, the use of knives in order to take place, used knives back at the original knife, can also order Add Block, a knife. In this way, no need Tool identification devices, and drive control is a relatively simple, reliable and can be used directly from the points of the knife machinery to achieve. But the knives in each of the tool in different processes can not be reused, if the tool is installed in accordance with the order of the knife, there will be serious consequences. The need to increase the number

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