【作者】 李娟；

【导师】 丛茜；

【作者基本信息】 吉林大学 ， 农业机械化工程， 2025， 硕士

【摘要】 海洋拥有丰富的自然资源,随着人类对海洋的开发需求日益渐增,自主水下航行器及其对接装置在世界范围内受到广泛关注。然而现有的对接装置存在破坏航行器壳体和对接成功率低的问题。对接航行器的过程类似于生物捕获物体的行为。自然界中的许多生物在长期适应生存环境的过程中进化出了适宜捕获猎物的结构和捕获策略,基于这些生物特性开发具有无损对接、对接成功率高、适用性广的性能的仿生对接装置对保护航行器、促进海洋资源探索和开发具有重要意义。章鱼具有优异的捕获和吸附性能,章鱼吸盘及触手的神经系统可灵敏并及时地反映捕获猎物的情况。本研究以工程仿生理论为指导,研究章鱼的触手和吸盘结构、捕获形态、捕获机制及吸盘吸脱附运动机理,研究并分析基于章鱼触手神经信号传递机制的多级感知控制策略,设计与研究一种基于章鱼捕获特性的水下航行器仿生对接装置。利用体式显微镜观察章鱼触手组织切片及吸盘结构,通过观测可知触手主要由肌肉组织组成,触手及触手上吸盘的运动源于肌肉组织的收缩运动。触手中心有一条神经索,负责神经信息的传送。吸盘有两个腔室,呈漏斗状,通过肌肉组织与触手的轴连接。观察章鱼捕获圆柱形瓶体的形态,章鱼可沿瓶体的轴向和径向进行抓握,且可按需使用吸盘。观察并分析章鱼触手的捕获动作,发现近端吸盘受到刺激后可将刺激传递至邻近吸盘,使邻近吸盘对刺激源作出反应。研究与分析章鱼吸盘吸脱附运动过程,章鱼吸盘的双腔结构可使吸盘与接触面紧密贴合。以研究的章鱼的触手和吸盘结构、捕获形态、神经信号传递机制为仿生源,设计仿章鱼对接装置的结构。利用Workbench进行耦合仿真分析装置壳体在50 m深度下的强度,分析表明,符合强度设计要求。设计尾部导流罩并对导流罩的角度和长度两个设计参数进行2因素4水平的全面试验,通过流体仿真确定出最优减阻模型减阻率为18.25%。仿真模拟仿章鱼吸盘的贴附与脱附运动过程,结果表明双腔结构的柔性仿章鱼吸盘可与基底紧密贴合。以研究的章鱼捕获机制和按需使用吸盘的功能为仿生源,设计执行机构的控制方案。利用前两排子执行机构完成航行器的首次对接以保证对接稳定性,并基于传感器信号确定其余子执行机构的执行顺序。使用MATLAB与Coppelia Sim仿真模拟对接过程,结果表明多级递进式控制方案可以提高对接成功率。搭建对接试验平台,开展多级递进式控制方案性能测试。结果表明,当子执行机构与PVC壳体间的压力为7 N时,前两排子执行机构的切向最大承载为7.1 kg,前三排为9.3 kg,前四排为11.2 kg。当承载载荷超过子执行机构的承载能力时,未对接的子执行机构的加入可以稳定对接物体,有效提高了对接成功的可能性。对接装置使用柔性吸盘夹持航行器,可实现对接无损化。装置可回收不同直径的航行器,具有适用性广的特点。更多还原

【Abstract】 The oceans are rich in natural resources,and with the increasing demand for human development of the oceans,autonomous underwater vehicles and their docking devices have received extensive attention worldwide.However,the existing docking devices have the problems of damaging the vehicle shell and a low docking success rate.The process of docking a vehicle is similar to the behavior of biological capture of an object.Many organisms in nature have evolved suitable structures and capture strategies to capture prey in the process of adapting to their living environments over a long period.The development of biomimetic docking devices based on these biological characteristics with the properties of non-destructive docking,high docking success rate,and wide applicability is of great significance to protect the vehicle and promote the exploration and development of marine resources.Octopus has excellent capture and adsorption performance,and the nervous system of octopus suckers and tentacles can reflect the capture of prey in a sensitive and timely manner.This study is guided by the engineering bionic theory,to study the structure of octopus tentacles and suckers,capture morphology,capture mechanism,and sucker suction and detachment movement mechanism,to study and analyze the multilevel perception control strategy based on the neural signaling mechanism of octopus tentacles,and to design and study a bionic docking device for underwater vehicles based on the capture characteristics of octopus.The octopus tentacle tissue slices and sucker structure are observed by using an in-body microscope,and it is known that the tentacle is mainly composed of muscle tissue,and the movement of the tentacle and the sucker on the tentacle originates from the contraction movement of the muscle tissue.There is a nerve cord in the center of the tentacle,which is responsible for the transmission of nerve information.The sucker has two chambers,in the shape of a funnel,connected to the shaft of the tentacle through the muscle tissue.Observe the morphology of an octopus capturing a cylindrical bottle;the octopus can grasp axially and radially along the bottle and can use the suction cups on demand.Observation and analysis of the capturing action of octopus tentacles revealed that the proximal suction cups can transmit stimuli to neighboring suction cups when stimulated,causing neighboring suction cups to respond to the stimulus source.Study and analyze the process of suction and disengagement movement of octopus suction cups,and the double-chamber structure of octopus suction cups can make the suction cups fit closely to the contact surface.The tentacle and sucker structure,capture morphology,and nerve signaling mechanism of the studied octopus are used as the source of mimicry to design the structure of the mimic octopus docking device.The coupled simulation using Workbench to analyze the strength of the device shell at a depth of 50 m.The analysis shows that the strength design requirements are met.The design of the tail deflector and the design parameters of the deflector’s angle and length were fully tested at 2-factor and 4-levels,and the optimal drag reduction model was determined by fluid simulation with a drag reduction rate of 18.25%.The simulation simulates the attachment and detachment process of the octopus-like suction cup,and the results show that the flexible octopus-like suction cup with a dual-cavity structure can closely adhere to the substrate.The researched octopus capture mechanism and on-demand use of the suction cup function are used as the bionic source to design the control scheme of the actuators.The first two rows of sub-actuators are utilized to complete the first docking of the navigator to ensure docking stability,and the execution sequence of the remaining sub-actuators is determined based on sensor signals.The docking process is simulated using MATLAB with Coppelia Sim,and the results show that the multi-stage progressive control scheme can improve the docking success rate.A docking test platform was built to carry out the performance test of the multi-stage progressive control scheme.The results show that when the pressure between the sub-actuators and the PVC shell is 7 N,the tangential maximum load of the first two rows of sub-actuators is 7.1 kg,the first three rows are 9.3 kg,and the first four rows are 11.2 kg.When the load-carrying capacity exceeds that of the sub-actuators,the joining of undocked sub-actuators stabilizes the docked object,which effectively enhances the possibility of successful docking.The docking device uses flexible suction cups to clamp the navigator,which can realize non-destructive docking.The device can recover navigators of different diameters and is characterized by wide applicability.更多还原