Toward a Novel Robotic Manta With Unique Pectoral Fins
文献类型：期刊论文
| 作者 | Meng, Yan2,3 ; Wu, Zhengxing2,3; Dong, Huijie2,3; Wang, Jian2,3; Yu, Junzhi1,3
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| 刊名 | IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
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| 出版日期 | 2022-03-01 |
| 卷号 | 52期号:3页码:1663-1673 |
| 关键词 | Robots Robot kinematics Sports Vehicle dynamics Mathematical model Aerodynamics Prototypes Dynamic model pectoral fins robotic manta spatial maneuverability underwater robotics |
| ISSN号 | 2168-2216 |
| DOI | 10.1109/TSMC.2020.3034503 |
| 通讯作者 | Yu, Junzhi(junzhi.yu@ia.ac.cn) |
| 英文摘要 | This article proposes the mechanical design and dynamic model of an innovative manta-inspired robot system for both efficient fast swimming and high spatial maneuverability. Inspired by some biological studies, a pair of unique pectoral fins with six separate degrees of freedoms (DOFs) are developed. The novel design is characterized by an improved crank-rocker mechanism and a distinctive horizontal DOF. The former not only endows the robot with high swimming speed, but also guarantees efficient flapping patterns which are close to manta rays. The latter is employed to coordinate with the flapping movement, allowing remarkable pitch adjustment. Further, the basic motion strategy is presented by detailed analyses to the pectoral fins. Besides, based on the Morrison equation and infinitesimal method, a complete dynamic model for robotic manta with flexible pectoral fins is established, whose parameters are determined through experimental data. Moreover, the linear swimming and pitching experiments are conducted, demonstrating the prominent movement performance of the presented design and the effectiveness of the dynamic model. The obtained results shed light on updated design and control of next-generation agile underwater vehicles and robots capable of multimodal motions in dynamic and complex aquatic environments. |
| WOS关键词 | BIONIC-FISH ; DESIGN ; RAY ; OPTIMIZATION ; COMPLEXITY |
| 资助项目 | National Natural Science Foundation of China[61725305] ; National Natural Science Foundation of China[U1909206] ; National Natural Science Foundation of China[61633020] ; National Natural Science Foundation of China[61633004] ; National Natural Science Foundation of China[61973303] ; Beijing Nova Program[Z201100006820078] |
| WOS研究方向 | Automation & Control Systems ; Computer Science |
| 语种 | 英语 |
| WOS记录号 | WOS:000756835400034 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Beijing Nova Program |
| 源URL | [http://ir.ia.ac.cn/handle/173211/47897]  |
| 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 复杂系统管理与控制国家重点实验室_水下机器人 |
| 通讯作者 | Yu, Junzhi |
| 作者单位 | 1.Peking Univ, Coll Engn, BIC ESAT,Dept Adv Mfg & Robot, State Key Lab Turbulence & Complex Syst, Beijing 100871, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Meng, Yan,Wu, Zhengxing,Dong, Huijie,et al. Toward a Novel Robotic Manta With Unique Pectoral Fins[J]. IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,2022,52(3):1663-1673. |
| APA | Meng, Yan,Wu, Zhengxing,Dong, Huijie,Wang, Jian,&Yu, Junzhi.(2022).Toward a Novel Robotic Manta With Unique Pectoral Fins.IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS,52(3),1663-1673. |
| MLA | Meng, Yan,et al."Toward a Novel Robotic Manta With Unique Pectoral Fins".IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS 52.3(2022):1663-1673. |
入库方式： OAI收割
来源：自动化研究所
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