毕业论文-仿生水母机器人.docx

摘要I分类号密级分类号密级UDC本本 科科 毕毕 业业 论论 文文仿生水母机器人专业年级专业年级2011 级机械设计制造及其自动化级机械设计制造及其自动化论文答辩日期论文答辩日期2015 年年 6 月月 4 日日中国海洋大学中国海洋大学摘要II1承诺书承诺书经认真检查，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III摘要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Abstract IVBiomimetic 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 vehicle's 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 long-term monitoring underwater observation mission. In addition, Jellyfish B owns a solar charging system, when the robot electricity shortage, buoyancy drive will automatically adjust to the largest buoyancy position and using self-locking feature of electric draw stem, no energy to lock in this position, make jellies to head up the attitude of the floating on the surface of the water, until get enough power, into the water again continue to work.Keywords:Biomimetic Jellyfish Robot ;Buoyancy Drives; Flexible body cavity movement system; High efficiency and energy saving目录目 录摘要 ....................................................IAbstract ...............................................II1绪论.................................................11.1选题背景 ................................................11.1.1 国外研究现状 ........................................11.1.2 国内研究现状 ........................................31.1.3本文所设计的机器水母的功能概述和创新点..................51.2本文内容概述 ............................................62机械结构设计.........................................72.1总体设计 ................................................72.2浮力驱动器的设计 ........................................72.2.1 浮力驱动器概述 ......................................72.2.2 设计条件 ............................................82.2.3 设计过程 ............................................82.3密封舱的设计 ............................................92.3.1 设计条件： ..........................................92.3.2 设计过程 ............................................92.4柔性体腔运动系统的设计 ..................................92.4.1 防水舵机基本参数介绍 ................................92.5膜骨架设计 .............................................103硬件电路设计........................................113.1.1 总体设计 ...........................................113.1.2 电源板 .............................................123.1.3 电池 ...............................................123.1.4 电源变换 ...........................................133.1.5 H 桥 ................................................143.1.6 检测和保护 .........................................153.1.7 主控电路板 .........................................163.1.8 主控单片机 .........................................173.1.9 传感器 .............................................17目录3.1.10 通信 ..............................................183.1.11 摇杆控制器 ........................................194软件设计............................................204.1总体设计 ...............................................204.2下位机程序 .............................................214.2.1 基础功能的实现 .....................................214.2.2 数据的收和发送 .....................................224.2.3 舵机控制 ...........................................244.2.4 电机控制 ...........................................254.2.5 数据采集 ...........................................264.3上位机程序 .............................................274.3.1 Qt 介绍 ..............................。