Implementation of a multi-link robotic dolphin with two 3-DOF flippers
文献类型：期刊论文
| 作者 | Shen Fei ; Wei Changming; Cao Zhiqiang; Xu De; Yu Junzhi; Zhou Chao
|
| 刊名 | Journal of Computational Information Systems
 |
| 出版日期 | 2011 |
| 卷号 | 7期号:7页码:2601-2607 |
| 通讯作者 | Cao Zhiqiang |
| 英文摘要 | A robotic dolphin with a pair of 3-DOF flippers, two turning units and a multi-link oscillatory propulsion mechanism is designed. The mechanical, hardware and software designs of the robotic dolphin are given. The flippers are fixed on both sides of the anterior body and each one is endowed with the ability of lead-lag, feathering, and up-down motions. The yawing of the robotic dolphin is realized via controlling the two turning units. The multi-link oscillatory propulsion mechanism consists of four joints, in which the first joint adopts the structure of worm gear and shaft driven by a DC motor in order to provide large torque and the other three oscillatory hinge joints are directly driven by servos. The propulsion is achieved via the coordinated controlling of the four joints. The performance of the robotic dolphin is well verified in the experiments. |
| 收录类别 | EI |
| WOS记录号 | WOS:20112814144095 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3398]  |
| 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 |
| 推荐引用方式 GB/T 7714 | Shen Fei,Wei Changming,Cao Zhiqiang,et al. Implementation of a multi-link robotic dolphin with two 3-DOF flippers[J]. Journal of Computational Information Systems,2011,7(7):2601-2607. |
| APA | Shen Fei,Wei Changming,Cao Zhiqiang,Xu De,Yu Junzhi,&Zhou Chao.(2011).Implementation of a multi-link robotic dolphin with two 3-DOF flippers.Journal of Computational Information Systems,7(7),2601-2607. |
| MLA | Shen Fei,et al."Implementation of a multi-link robotic dolphin with two 3-DOF flippers".Journal of Computational Information Systems 7.7(2011):2601-2607. |
入库方式： OAI收割
来源：自动化研究所
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