Dynamic modeling of multi-link swimming robot capable of 3-D motion
文献类型：会议论文
| 作者 | Yu, Junzhi1 ; Liu, Lizhong2; Tan, Min1
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| 出版日期 | 2007 |
| 会议名称 | 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007 |
| 会议日期 | August 5, 2007 - August 8, 2007 |
| 会议地点 | Harbin, China |
| 关键词 | Dynamic modeling underwater robot multibody dynamics Schiehlen method multi-link robot |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper presents a three-dimensional (3-D) dynamic model for free-swimming, flexible multi-link robots using Schiehlen method within the framework of multi-body dynamics. The swimming robots, like robotic fish and robotic dolphin, consist of a sequence of propulsive modules in series, which propels itself via undulatory/oscillatory locomotion and performs up-and-down motion by artificial pectoral fins. Mechanically, this robotic configuration is simply considered as an open, tree-structured multi-body system. The expressions for the hydrodynamic forces and momentums on the moving modules are based on quasi-steady hydrodynamics and oscillatory foil theory, and these are coupled with kinematic and dynamic analyses to derive complete dynamic equations in a form suited for controller design and computer simulation. The matching results between simulation with experimental results on a fourlink, multi-mode robotic fish show good agreement, which partially demonstrates the validity of the proposed model and the potential of its use for other flexible links based robots. |
| 会议录 | IEEE International Conference on Mechatronics and Automation
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| 源URL | [http://ir.ia.ac.cn/handle/173211/13065]  |
| 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 | 1. Lab. of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China 2. Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Liu, Lizhong,Tan, Min. Dynamic modeling of multi-link swimming robot capable of 3-D motion[C]. 见:2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007. Harbin, China. August 5, 2007 - August 8, 2007. |
入库方式： OAI收割
来源：自动化研究所
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