In order to set up the dynamic model of swimming micro robot , this dissertation builds up the statics model and analyses the micro motion amplifying performance of micro robot mechanism , builds up the vibration model of micro robot and analyses the vibrating performance without and with damp , researches the propelling force of driven wing and the resistance of micro robot in liquid based on the theory of flat board resisting stream , builds up the dynamic model of swimming micro robot for the first time in nation and analyses its swimming performance which is influenced by driving signal frequency , amplifying performance of main machanism , area of driven wing , character of fluid and so on . this dissertation manufactures the micro robot and sets up the experimental environment and tests the amplifying effect and the vibrating performance 本文建立了主体机构静力学模型,研究了主体机构的结构参数对微位移放大性能的影响;建立了主体机构振动模型,研究了主体机构在无液体阻尼和有液体阻尼情况下的振动特性;根据流体力学平板绕流理论,研究了驱动翼产生的推进力和微机器人在流体中受到的阻力;在此基础上国内首次建立了泳动微机器人的动力学模型,并对模型进行了深入的研究,详细阐明了驱动信号频率、主体机构放大性能、主体机构振动特性、驱动翼面积、液体性质等因素对微机器人泳动特性的影响。
翼: the wing of a bird面积: area副翼面积: aileron area机翼面积: wing area襟翼面积: flap area水翼面积: area of hydrofoil尾翼面积: tail area翼面积效应: effect; wing area机翼面积效应: wing area effect设计机翼面积: design wing area升降副翼面积: elevon area水平尾翼面积: horizontal tail area水翼面积分布: foil area distribution外露机翼面积: exposed wing area平面面积, 主翼面积: area of plane垂直尾翼面积比: vertical tail area ratio翼面: aerofoil; air foil; airfoil surface; plane; wing surface操纵面与机翼面积比: control-to-wing area ratio基于机翼面积的系数: coefficient based on wing area飞机废阻面积与机翼面积比: parasite ratio螺旋桨滑流流过的机翼面积比: fraction of wing area lying in slipstream尖翼面: tapered air foil曲翼面: aerocurve; cambered aerofoil上翼面: top aerofoil; upper aerofoil; wing upper surface尾翼面: empennage surfaces