Three-dimensional dynamic modelling of robotic fish: simulations and experiments
文献类型：期刊论文
| 作者 | Yu, Junzhi1 ; Liu, Lizhong2; Tan, Min1
|
| 刊名 | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
 |
| 出版日期 | 2008-08-01 |
| 卷号 | 30期号:3-4页码:239-258 |
| 关键词 | dynamic modelling multibody dynamics robotic fish Schiehlen method underwater robot |
| 英文摘要 | This paper deals with a three-dimensional (3-D) dynamic model for a free-swimming, multi-link fish-like robot to predict the dynamic characteristics of an artificial fish system using the Schiehlen method in the context of multibody dynamics. The robotic fish, according to propulsive mechanisms employed by fish, propels itself using lateral oscillations and achieves a climb or descent manoeuvre exploiting a pair of pectoral fins. Mechanically, the robotic fish consists of a stiff head, a flexible rear body and an oscillating lunate caudal fin, which can essentially be viewed as an open, tree-like multibody system. The kinematic analysis is then integrated with hydrodynamic analysis on multiple moving elements to derive complete dynamic equations in a form suited for computer implementation as well as controller design. A variety of locomotion behaviours, through regulating parametric sets, can be reproduced. Numerical simulations and actual experiments on degenerative planar swimming and combined motions are finally compared, which partially demonstrate the effectiveness of the built model. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Instruments & Instrumentation |
| 研究领域[WOS] | Automation & Control Systems ; Instruments & Instrumentation |
| 关键词[WOS] | LOCOMOTION ; VEHICLES ; FOILS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000258609200004 |
| 公开日期 | 2015-12-24 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/9671]  |
| 专题 | 自动化研究所_09年以前成果 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China 2.Peking Univ, Dept Mech & Space Technol, Beijing 100871, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Liu, Lizhong,Tan, Min. Three-dimensional dynamic modelling of robotic fish: simulations and experiments[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2008,30(3-4):239-258. |
| APA | Yu, Junzhi,Liu, Lizhong,&Tan, Min.(2008).Three-dimensional dynamic modelling of robotic fish: simulations and experiments.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,30(3-4),239-258. |
| MLA | Yu, Junzhi,et al."Three-dimensional dynamic modelling of robotic fish: simulations and experiments".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 30.3-4(2008):239-258. |
入库方式： OAI收割
来源：自动化研究所
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