Dynamic modeling of robotic fish using Schiehlen’s method
文献类型：会议论文
| 作者 | Yu, Junzhi ; Liu, Lizhong; Wang, Long
|
| 出版日期 | 2006 |
| 会议名称 | 2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006 |
| 会议日期 | December 17, 2006 - December 20, 2006 |
| 会议地点 | Kunming, China |
| 关键词 | Robotic fish dynamic modeling multi-body dynamics Schiehlen method |
| 通讯作者 | Yu, Junzhi |
| 英文摘要 | This paper provides a preliminary study on dynamic modeling of a multi-link robotic fish based on Schiehlen's multi-body dynamic equation. According to propulsive mechanism of real fish, the robotic fish propels itself using lateral oscillation and achieves a climb or descent maneuver employing a pair of pectoral fins. The designed robotic fish is mechanically composed of stiff anterior body, flexible rear body, and an oscillating lunate caudal fin, which can simply be viewed as an open, treed multi-body system. The kinematic analysis is then integrated with dynamic analysis to build complete dynamic equations in a form suited for controller design and computer simulation. Finally, simulations and experimental results are compared for straight swim and circular motion, which partially shows the validity of the proposed model. |
| 会议录 | IEEE International Conference on Robotics and Biomimetics, ROBIO
 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/13072]  |
| 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 | Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China |
| 推荐引用方式 GB/T 7714 | Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamic modeling of robotic fish using Schiehlen’s method[C]. 见:2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006. Kunming, China. December 17, 2006 - December 20, 2006. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。