機(jī)器魚(yú)尾鰭運(yùn)動(dòng)學(xué)研究與控制系統(tǒng)設(shè)計(jì).pdf

1、中國(guó)海洋大學(xué)碩士學(xué)位論文機(jī)器魚(yú)尾鰭運(yùn)動(dòng)學(xué)研究與控制系統(tǒng)設(shè)計(jì)姓名：張志華申請(qǐng)學(xué)位級(jí)別：碩士專(zhuān)業(yè)：信號(hào)與信息處理指導(dǎo)教師：周東輝2003.6.1墊登魚(yú)星塑堡墊蘭墮塞量叁型墨箜堡鹽————CaudaIFinLocomotionandDesignofControISystemforRobotiOFishAbstractAutonomousunderwatervehiclescanmimiclocomotionofaquaticanimals—f

2、ishesthatutilizeoscillatingfoiisastheirpropulsiveelementsThereareoverwhelmingadvantagesfortheminspeed，maneuverability，andnoiseoverconventionalman—madepropellerThispaperpresentsanoverviewoftheswimmingmecbanismsandthecauda

3、lfinlocomotionemployedbyfishApracticalmethodisbroughtforwardthatusethetrackofthecaudalfinoscillatingtostudythe10comotionoftheroboticfishAndthispapermimictheBCF(Bodyand／orCaudalFin)propulsivefishwithathree一1inkroboticfish

4、model(OuceFish—I)forOSCillatingfoilpropulsion，andthendescribesthedesign(hardwareandsoftware)ofitindetailFurthermore，thispaperdescribestheexDerimentalresultsoftheroboticfishA11theworkaboveestablishesthebaseforthefuturewor

5、koftheroboticfishThepaperisstructuredasfollows：Inthefirstsection，thecontemporarydevelopmentofroboticfishtechnologyisreviewedcomprehensiVelyandabriefintroductiontothemainworkofthispaperisgivenThesecondsectiondescribesthem

6、orphologicalfeaturesandtheswimmingmechanismsoffishandexplainsthereasonwhythispaperchoosesBCFpropulsivefishesasthemodelAndexplainthecorrelativeparametersandthemechanicsofthecaudalfinlocomotionTheequationoftheroboticfishca

7、udalfinlocomotionisdeducedinthethirdsectionTheroboticfishmodelselectedinthispaperwhichconsideranidealizedBCFpropulsivefishmodelthatconsistsofonlythree1inks：therigidbodyintheforeside：thehighaspectratiocaudalfin：thecaudalp