An adjustable Scotch Yoke mechanism for robotic dolphin
文献类型：会议论文
| 作者 | Yu, Junzhi ; Hu, Yonghui; Huo, Jiyan; Wang, Long
|
| 出版日期 | 2007 |
| 会议名称 | 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO |
| 会议日期 | December 15, 2007 - December 18, 2007 |
| 会议地点 | Yalong Bay, Sanya, China |
| 关键词 | Biomimetics Scotch yoke mechanism design Swimming robot, robotic dolphin |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper describes the design, construction, and performance analysis of an adjustable Scotch yoke mechanism mimicking the dorsoventral movement for dolphin-like robots. Since dolphins propel themselves by vertical oscillations following a sinusoidal path with alterable amplitudes, a two-motor-driven Scotch yoke mechanism is adopted as the main propulsor to generate sinusoidal oscillations, where leading screw mechanism and rack and pinion mechanism actuated by the minor motor are incorporated to independently change the length of the crank actuated by the major motor. Meanwhile, the output of the Scotch yoke, i.e., reciprocating motion, is converted into the up-and-down oscillation via rack and gear transmission. A motion control scheme based on the novel Scotch yoke is then formed and applied to achieve desired propulsion. Preliminary tests in a robotics context finally confirm the feasibility of the developed mechanism in mechanics and propulsion. |
| 会议录 | IEEE International Conference on Robotics and Biomimetics
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13066]  |
| 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 | Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O.Box 2728, 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,Hu, Yonghui,Huo, Jiyan,et al. An adjustable Scotch Yoke mechanism for robotic dolphin[C]. 见:2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. Yalong Bay, Sanya, China. December 15, 2007 - December 18, 2007. |
入库方式： OAI收割
来源：自动化研究所
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