哈尔滨工业大学工程硕士学位论文 Abstract As human's exploration and development of ocean speeds up gradually,the unmanned underwater transfer system obtains fast development.Thereinto, machines based on fish and other aquatic organisms which motion with bionic propulsion system are receiving more and more attention.Compared to the traditional wave swimming fish,jellyfish has better flexibility,environmental adaptability and concealment of the target motion,and also has the mechanism with efficient utilization of the flow field energy,is suitable for underwater prototype machine of ocean dives,observation,target detection and weapon transportation.Propulsion mechanism about jellyfish actives in recent years,the researches have developed a variety of jellyfish robots with different driving forms.But current studies mainly centralize within centimeter scale,medium sized jellyfish in Im diameter is fewer researched.Due to the good prospect in engineering application of medium sized jellyfish,this paper will research on the propulsion mechanism through the theoretical analysis and underwater experiment. With chardonnay jellyfish as the research object,this paper analysed the movement mechanism of chardonnay jellyfish,described the basic movement. Considering jellyfish propulsive movement,established the dynamic model of systolic and diastolic of bell-shaped structure,completed the dynamics analysis, analyzed the force under the underwater propulsion of jellyfish,and the method of decreasing the drag of propulsion. In bionics research,based on the analysis of the dynamics,jellyfish,designed the virtual prototype machine.The virtual prototype uses a servo motor to drive the six auxiliary tentacles,the six auxiliary antenna drive silicone skin cover with reciprocating swing,thus promote the bell-shaped structure similar to the jellyfish achieving the flexible silicone systolic and diastolic motion.Simulation software ADAMS was applied to simplified bell-shaped structure,and to complete the kinematics analysis,dynamics simulation,force situation analysis of machine jellyfish tentacles in the water,and to provide theoretical basis for the experiment. Designed the control system,based on the analysis of dynamics cleared the basic movement to implement.Machined and assemblied the bionic jellyfish experimental prototype,debugged and promoted the performance of the bionic machine jellyfish prototype experiments,Got the machine jellyfish underwater movement situation based on the experimental analysis.Results of the experiment were analyzed,and the experimental datas were obtained. 万方数据哈尔滨工业大学工程硕士学位论文 Abstract As human’s exploration and development of ocean speeds up gradually, the unmanned underwater transfer system obtains fast development. Thereinto, machines based on fish and other aquatic organisms which motion with bionic propulsion system are receiving more and more attention. Compared to the traditional wave swimming fish, jellyfish has better flexibility, environmental adaptability and concealment of the target motion, and also has the mechanism with efficient utilization of the flow field energy, is suitable for underwater prototype machine of ocean dives, observation, target detection and weapon transportation. Propulsion mechanism about jellyfish actives in recent years, the researches have developed a variety of jellyfish robots with different driving forms. But current studies mainly centralize within centimeter scale, medium sized jellyfish in 1m diameter is fewer researched. Due to the good prospect in engineering application of medium sized jellyfish, this paper will research on the propulsion mechanism through the theoretical analysis and underwater experiment. With chardonnay jellyfish as the research object, this paper analysed the movement mechanism of chardonnay jellyfish, described the basic movement. Considering jellyfish propulsive movement, established the dynamic model of systolic and diastolic of bell-shaped structure, completed the dynamics analysis, analyzed the force under the underwater propulsion of jellyfish, and the method of decreasing the drag of propulsion. In bionics research, based on the analysis of the dynamics, jellyfish, designed the virtual prototype machine. The virtual prototype uses a servo motor to drive the six auxiliary tentacles, the six auxiliary antenna drive silicone skin cover with reciprocating swing, thus promote the bell-shaped structure similar to the jellyfish achieving the flexible silicone systolic and diastolic motion. Simulation software ADAMS was applied to simplified bell-shaped structure, and to complete the kinematics analysis, dynamics simulation, force situation analysis of machine jellyfish tentacles in the water, and to provide theoretical basis for the experiment. Designed the control system, based on the analysis of dynamics cleared the basic movement to implement. Machined and assemblied the bionic jellyfish experimental prototype, debugged and promoted the performance of the bionic machine jellyfish prototype experiments, Got the machine jellyfish underwater movement situation based on the experimental analysis. Results of the experiment were analyzed, and the experimental datas were obtained. - II - 万方数据