Simulation study on serpentine locomotion of underwater snake-like robot
文献类型：期刊论文
| 作者 | Lv YH(吕艳辉); Li L(李立) ; Wang MH(王明辉); Guo X(郭宪)
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| 刊名 | International Journal of Control and Automation
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| 出版日期 | 2015 |
| 卷号 | 8期号:1页码:373-384 |
| 关键词 | Snake-like robot Density ratio Gait parameters Motion performance Simulation |
| ISSN号 | 2005-4297 |
| 产权排序 | 2 |
| 中文摘要 | Serpentine locomotion of underwater snake-like robot is very complicated. In order to better control the motion state, a simulation model of underwater snake-like robot is established to investigate the relationship between the motion performance and the mechanical structure characteristics together with serpentine gait parameters. Based on the density ratio defined as the ratio of snake-like robot density to water density, the locomotion speed, output power and energy consumption of underwater snake-like robot is discussed. Further, with the optimum density ratio, the influence of serpentine gait parameters on the locomotion speed is analyzed. The simulation results show that the density ratio has great influence on the motion performance and the energy consumption of underwater snake-like robot, which can provide important basis for the research of underwater snake-like robot in terms of motion performance optimization and mechanical structure design. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/19924]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Lv YH,Li L,Wang MH,et al. Simulation study on serpentine locomotion of underwater snake-like robot[J]. International Journal of Control and Automation,2015,8(1):373-384. |
| APA | Lv YH,Li L,Wang MH,&Guo X.(2015).Simulation study on serpentine locomotion of underwater snake-like robot.International Journal of Control and Automation,8(1),373-384. |
| MLA | Lv YH,et al."Simulation study on serpentine locomotion of underwater snake-like robot".International Journal of Control and Automation 8.1(2015):373-384. |
入库方式： OAI收割
来源：沈阳自动化研究所
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