超磁仿生机器鱼力学机理及数值模拟

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1、大连理工大学博士学位论文超磁仿生机器鱼力学机理及数值模拟姓名：孙发明申请学位级别：博士专业：流体力学指导教师：徐新生20090501超磁仿生机器鱼力学机理及数值模拟形状的鱼尾为例，它们分别对应矩形参照鱼尾、金枪鱼月牙形鱼尾和梭子鱼形态特征鱼尾。分别以问题的稳态解和非稳态解研究了机器鱼巡游和加速游动以及沿鱼尾长度的驱动力分布。揭示了鱼尾形状对机器鱼性能的影响，同时也解释了鱼类游动的物理现象。研究结果对仿生机器鱼性能方面的设计有特殊的应用价值。关键词：超磁致伸缩材料：仿生机器鱼；驱动器：悬臂夹层薄板大连理工大学博士学位论文MechanicsAnalysisandNumeri

2、calSimulationoftheBionicRobotFishControlledbytheGMMAAbstractManynewtypemicrorobotsthatcanswimsmoothlyinliquidsmediumhaveurgentlybeendemandedinindustrial，nationaldefensive，petrochemicalandmedicalfieldsduetoconstraintsoftheenvironmentorotherspecialconditions．Especiallythewirelessdrivenrobo

3、twithhi曲flexibilityhasbeingmorepopularwithpeople．Forinstance，byusingmicrorobots，adelicatesurgicaloperationcanavoiddismantlingandreassembling，whichminimizesthepatient’Shurt．Ontheotherhand，microrobotsareoftenproposedtomaintainfactorypipelinesorfaultdetection．Thestudyonmicrorobothasenormous

4、lybeendevelopedwiththecomingforthandapplicationofgiantmagnetostrictivematerials，whichcanbecontrolledinwirelessutilizingexternalmagneticfieldasaspecialintelligentmaterial．Therefore，studyinganddesigningadvancedmagneticbionicrobotfishhasbecomeasignificativeresearchchoice．However,thekeytechn

5、ologiesandmechanismofthistypeofmachine-drivenfishshouldbefurtherexplored．Inthispaper，themechanicsmodelofabionicrobotfish，whichiscomposedofmuscle，tailandneuralcontrolsystemandsimulatedrespectivelybygiantmagnetostrictivematerial(GMM)，elasticsheetandexternalmagneticfield，isbuilt．Wimtheaidof

6、itsswimmingmechanism，aGMMactuator(GMMA)isdevised．ThenewtypebionicrobotfishcontrolledbyGMMA，abandonstraditionalpowersystem，pavesawayforachievingmicromationandhasanextremelysignific如ceforworkinginpipelines．neeffectsofexternalmagneticfieldfrequency。materialparametersandgeometricalparameters

7、offishtailontheaveragepropulsionproducedbyswingtailareanalyzed．Itisfoundthattheaveragedrivingforcecanreachapeakvaluewhentheforcedexternalmagneticfieldhasasamefrequencyasthetailsystem．ThustherobotfishswimmingCanbecontrolledbyadjustingthefrequencyoftheexternalmagneticfield．