仿生水母縮放推進機構之設計與製作

Design and Manufacturing of Jet Propulsion Mechanisms for Bionic Jellyfishes

彭千誠(Chian-Cheng Peng)

國立虎尾科技大學/工程學院/動力機械工程研究所/碩士(2006年)

摘要

本研究之目的在於進行仿生水母縮放推進機構之設計與製作，使其能如水母般以收縮及放鬆的動作產生噴水推進。首先，研究水母與現有機構的特性，訂定構造與運動上設計需求及設計限制。接著，以創意性機構設計方法，合成出可行的縮放推進機構目錄。然後，由機構目錄挑選出合適的兩組機構，進行剛性機構與撓性機構的設計。剛性機構以向量迴路法進行尺寸合成與運動分析，以求得機構的各部尺寸；而撓性機構則將完成尺寸設計之剛性機構進行撓性化轉換，然後以假剛體模式來進行強度設計，評估縮放推進機構的力量、變形量、及撓性桿件之斷面尺寸間的關係。再進一步，以有限元素軟體進行力與變形分析，分析水母機構各撓性組件的作用力、變形量、及扭轉角。此外，並分別建立此兩組機構之實體模型，使用ADAMS軟體進行運動及動態模擬，以觀察其作動情形，找出潛在問題。最後，並實際製作雛型機進行測試。由模擬結果可知，所設計機構運動與水母極為近似，可有效模擬水母之縮放推進。

並列摘要

The purpose of this paper is to carry out the design and manufacture of jet propulsion mechanisms for bionic jellyfishes. Firstly, the design constraints and requirements are specified according to the characteristics of jellyfishes and existing designs. Then, the atlas of feasible mechanisms is synthesized based on the methodology of creative design. Moreover, two better choices from the atlas are selected to perform the rigid-body and compliant mechanism designs. The detailed works of rigid-body mechanisms are performed, including dimension synthesis and kinematic analysis. Then, one of the rigid-body mechanisms is transformed to its pseudo-rigid-body model for carrying out the strength design. Furthermore, the force-deformation analysis is conducted by ANSYS software to obtain the relationship between forces, deformations, and angles of twist. Finally, all the designs are validated by computer simulation using ADAMS software. In addition, the feasibility of the design is verified by conducting a prototype testing. The simulation results show that the contraction and relaxation motion of the designed mechanism agrees fairly with a real jellyfish.

參考文獻

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