The Structural Planning And Research Of Correlation Problem On Swimming Robot

As one of the most important invention in the 20th century ,the robot (technology) has already made a great progress during the forty years .With the development of the world economy and the advances in science and technology,The robot technique heads for each fields of mankind's activity constantly and constantly,advancing the mechanization, automatization, and intellectualization of many fields.The research on underwater robot is one of important branch in this field research. Based on the apery swimming robot as the investigated object utilizing robot's principle of dynamics ,hydrokinetics theory, robot technology, computer technique of simulation, Altechnology, virtual realities technology,this thesis proceed the research on the underwater robot in the following aspects.1. This thesis systematically analyses and overviews the researching process and the state of development of the apery robot and the swimming type robot presently domestic and international, making a research on the progress of apery robot in recent years. Aiming for the two important research points: Miniaturization and Bionics, proceeds in-depth exploration,and points to the present research and hotspot issue of swimming robots proceed indepth analyses. These working lay firm foundation for theswimming robot structure design, kinematics and dynamic analysis in future.2. This thesis researches and learns about some typical structure characteristics and the setting of degrees of freedom of the apery robot domestic and international. Taking the basic structure of the human body as the foundation,the familiar basic action of two kinds of swimming methods( the breaststroke and free style) of mankind as the research mode, this thesis analyse the action and scope requirement of the swimming robots,and then designs setting of the degrees of freedom basing on the research.3. This thesis has finished the body structural design on the foundation of the analyses and research which emphasis on the body structure, appearance and action character of the advanced apery robots domestic and international.Including:the basic form design of the robot, the kinematic mechanism design of the neck, waist, arms and legs of the robot,and the driven mechanism and reducing mechanism design of ecah joint of swimming robot.4. The thesis has already proceed the kinetics analysis which is the key technique guaranteeing that the robot contain regulation, steady motion. This thesis builds up geometrical model of motion of the robot organization, deduces the kinematic equation of the swimming robot, carries on the analysis and calculations of the position and speeds of the robot's each joint order, and has completed analytical visual program design of the robot motion with VC++6.0.Above research provids the theories reference and foundation for the actual application of the swimming robot.5. The thesis proceeds research on motion design and track programming which is the...