Design and simulation of a robotic jellyfish based on mechanical structure drive and adjustment
文献类型：会议论文
| 作者 | Li, Xiangbin ; Yu, Junzhi
|
| 出版日期 | 2015 |
| 会议名称 | 34th Chinese Control Conference, CCC 2015 |
| 会议日期 | July 28, 2015 - July 30, 2015 |
| 会议地点 | Hangzhou, China |
| 关键词 | Simulation Robotic jellyfish Linkage mechanisms Barycenter adjustment mechanism |
| 英文摘要 | This paper presents a novel jellyfish-inspired swimming robot whose mechanical design, control algorithm, and motion analysis are discussed and manifested in detail. In consideration of few research on robotic jellyfish capable of three-dimensional movement with mechanical drive and actuator, we propose an improved design mainly featuring six-bar linkage mechanisms as the actuators and a barycenter adjustment mechanism as an attitude regulator. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and an elastic rubber skin around the drive units. Meanwhile a bio-inspired central pattern generators control model is imported. To validate the feasibility ofthe maneuverability with designed motion mechanism and free attitude regulation, dynamic analysis and simulation experiment are conducted. The obtained results show the conceived novel robotic jellyfish can accomplish all motion tasks desired. © 2015 Technical Committee on Control Theory, Chinese Association of Automation. |
| 会议录 | Chinese Control Conference, CCC
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13038]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China |
| 推荐引用方式 GB/T 7714 | Li, Xiangbin,Yu, Junzhi. Design and simulation of a robotic jellyfish based on mechanical structure drive and adjustment[C]. 见:34th Chinese Control Conference, CCC 2015. Hangzhou, China. July 28, 2015 - July 30, 2015. |
入库方式： OAI收割
来源：自动化研究所
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