摘要水下机器人广泛应用于海洋开发、海洋调查和海洋环保领域。自治水下机器人计划以来，已有若干个机器人开发出来。他们需要更高的推进性能和效率良好的动态性能。另一方面，众所周知的是好多鱼都有很好的转弯和加速能力,如果水下机器人能提高到可以模拟鱼一样的运动，它将被认为是具有类似鱼的动力学性能的机器人。52524

本文对国内外仿生鱼相关领域和研究进行了分析, 研究了典型的平台和主要的驱动的机构。把鳍科的鱼类作为对象,通过鳍科鱼类的游动机理来进行仿生机构研究,参考和改进现有的驱动机构,设计出曲柄连杆往复运动推进机构,从而能使仿生鱼实现直线运动和回转运动,在推进机构上合理的考虑到仿生鱼的运动。

本文参考曲柄连杆机构在solidworks中建立了三维模型，同时进行了运动仿真，简单分析了尾鳍的游动推动力,并且对尾部的尾柄和尾鳍进行了相应动力的计算和动力学分析。

毕业论文关键词：仿生鱼；曲柄连杆机构；仿真

Abstract Underwater robots are widely used in marine development, marine survey and marine environmental protection . Autonomous underwater vehicle program , there have been a number of robots developed. They need higher performance and efficiency propulsion good dynamic performance . On the other hand , it is known that a lot of fish have good cornering and acceleration. If underwater robots can be increased to simulate the movement of fish , it is believed to have similar dynamic performance of the robot fish .

This bionic fish related fields at home and abroad and studies were analyzed to study the typical platform and the main body into the drive . Section fin fish as the object, fishes swimming fin mechanism for bionic mechanism research, reference and improve the existing drive mechanism , designed to advance the reciprocating crank mechanism , which can achieve linear bionic fish movement and rotary movement in advancing the agency reasonable taking into account the bionic fish movement.

This reference crank in solidworks established a three-dimensional model was also carried out motion simulation, a simple analysis of the caudal fin swimming impetus , and on the tail of the caudal peduncle and caudal accordingly dynamics calculations and kinetic analysis .

Keywords: Bionic fish ; crank ; simulation

目录

第一章 绪论.

1.1概述1

1.2仿生鱼的研究发展概况1

1.2.1国外研究发展概况-2

1.2.2国内研究发展概况-4

1.3课题内容及意义-5

1.3.1课题内容-5

1.3.2课题意义-5

1.4本文研究内容及主要工作-6

第二章 仿生鱼推进机构研究7

2.1引言7

2.2鱼类外形特点和力学分析-7

2.2.1鱼类外形特点-8

2.2.2鱼类游动简单受力分析-8

2.3鱼类推进方式9

2.4鱼类推进原理研究-10

2.4.1鱼类推进原理理论研究10

2.4.2鱼类推进机理探讨11

2.5本章小结-11

第三章 仿鱼推进驱动机构设计-13

3.1引言-13

3.2典型驱动机构-13

3.2.1曲柄连杆机构13

3.2.2并联臂机构-15

3.2.3偏心轮拉杆机构-16

3.3典型驱动机构分析-16

3.4本章小结-20

第四章 仿鱼推进运动学及动力学分析21

4.1引言-21

4.2 solidworks模型的建立及运动仿真分析-21

4.2.1 solidworks零件的建模-21

4.2.2 solidworks零件的装配-31

4.3尾部运动学模型仿真33

  4.3.1尾部摆动模型33

  4.3.2尾部运动轨迹34

  4.3.3 solidworks三维模型的运动仿真-35

4.4尾部运动动力分析-38