毕业论文-仿生水母机器人.docxVIP

分类号密级UDC本 科 毕 业 论 文仿生水母机器人专业年级2011级机械设计制造及其自动化论文答辩日期2015年6 月4日中国海洋大学承诺书经认真检查，本人的毕业设计撰写符合《中国海洋大学机械设计制造及其自动化专业毕业设计撰写规范（试行）》的要求。如有三处（含）以上不符合该规范，自愿放弃本次毕业答辩。承诺人：年月日摘要本文在继承和改进Jellyfish G和Jellyfish S水母机器人方案的基础上设计出了Jellyfish B水母机器人方案，它继承了前者的柔性体腔运动系统，同时融合了水下滑翔机的浮力驱动运动方案。它在长距离运动过程中采用浮力驱动方式，在水下纵剖面内实现锯齿滑翔运动，通过控制浮力大小、浮心位置和柔性体腔四个方向上骨架的张角来调节滑翔姿态。其中浮心位置和浮力大小是关联的，而四个骨架的张角可分别独立控制。水下滑翔机这种运动方式是目前水下航行器长距离航行最高效节能的方式。但目前的水下滑翔机的一个普遍弱点是机动性不足，转弯半径较大，不够灵活；而Jellyfish B通过其继承下来的柔性体腔运动系统很好的克服了这一弱点，在小范围类能实现很好的灵活机动。这两种运动方式的结合使得Jellyfish B拥有了既相对节能又不失机动性的运动方式，为长期执行水下观察监测任务提供了保障。另外，Jellyfish B还拥有一套太阳能充电系统，当机器人电能不足时，浮力驱动器就会自动调节到最大浮力位置并利用电动推杆的自锁特性，不耗能地锁定在该位置，使水母机器人以头部朝上的姿态漂浮在水面上，直到获得足够电能，再潜入水中继续工作。关键词：仿生水母机器人；浮力驱动器；柔性体腔运动系统；高效节能Biomimetic Jellyfish Robot AbstractBased on the inheritance and improvement of Jellyfish G and Jellyfish S ,the thesis designed the biomimetic jellyfish robot which is named Jellyfish B .It inherits the flexible body movement of the former system, at the same time combines the underwater glider buoyancy driven movement scheme. It is driven by buoyancy in the process of long distance movement way, within the profile of sawtooth underwater gliding movement, by controlling the size of buoyancy, buoyancy location and flexible body cavity skeleton opening Angle to adjustment in the four directions gliding posture. Buoyancy of the position and size of buoyancy is associated, and four skeleton opening Angle can be controlled individually. Underwater glider this way of sports is the long-distance voyage underwater vehicles high efficiency and energy saving way. But the current of the underwater glider a common weakness is lack of maneuverability, turning radius is bigger, inflexible; Jellyfish B inherited through its flexible body cavity movement overcomes the weakness of the system well in such a small scale to achieve very good flexibility. The combination of the two movements makes Jellyfish B have relative movement way of energy saving and mobility, provides the guarantee for the lon