仿生機器魚運動分析研究.pdf

1、中國科學技術大學博士學位論文仿生機器魚運動分析研究姓名：俞經虎申請學位級別：博士專業(yè)：精密儀器與精密機械指導教師：竺長安李川奇20040501ABSTRACTBasedontheexperimentalanalysisoffreshfish，thisdissertationdoessomeresearchabouttheswimtheoryOnthebaseofit，weworkouta(multijunctional)roboticf

2、ishwhichcanimplementthebasiskineticmodes，suchaspatrol，acceleration，turnaround，upsanddownsFurthermore，theauthorapplythetheoryofplanarwaveblankinliquidandslenderbodytheoryrootinaerodynamicstothefish，establishthedynamicalmo

3、del，anddosomeliquidexperimentstochecktherightuessofthemodelOnthebaseofthemodel，theauthordosomefurtha“researchontheissuesofpropulsiveefficiencypropulsivestabilityoptimumdesign，andmakeatheoreticalbaseforthedesignoffuturesu

4、bmarineaircraftThemaincontenmgoes“follows：1afiefassortingtheboostingwayofthousandstypesofmarinefish，theauthorfindthatthespeedoffishwithnulunartailfinisthefastestthroughbionicsresearch，thenestablishthefluctuationequationo

5、ffishkinematics，anddosomekineticsimulationonthismodelInthesimulation，theauthorreviewseveryparameterinthemodel，checkstheaffecttofishmovement，doessomeexchangecalcuhtionaboutkineticparametersoffreshfishandroboticfish，andpro

6、videsakineticmodelforroboticsfish2DesignanddevelopmultijunctionalroboticfishthatCalldothekineticmodessuchaspatrol。acceleration，tumaround，upsanddownsDosomeresearchonthedrivenstructures，bodyshapechangeorgansturning，upsandd

7、ownsframeworkofthefish。Bringforwardthemethodtoimprovetheboostingstabilityofthefish3Basedonthetheoryofplanarwaveblankinliquidendslenderbodytheoryrootinaerodynamics，theauthorestablishdynamicfeaturemodelsformanyjointsroboti

8、cfish，dosome血therresearchonthedriveanddrivenefficiencyandvalidatethemodelthroughthepracticalroboticfish4Establishthecontrollablesystemofthreejoints，implementthebasickineticways，suchasforwardandbackwardactions，acceleratio