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Dolphin-like propulsive mechanism based on an adjustable Scotch yoke

文献类型：期刊论文

作者Yu Junzhi; Hu Yonghui; Huo Jiyan; Wang Long
刊名MECHANISM AND MACHINE THEORY
出版日期2009-03-01
卷号44期号:3页码:603-614
关键词Bio-inspired mechanism Scotch yoke Amplitude modulation mechanism Mechanical design Dolphin-like robot
通讯作者Yu Junzhi
英文摘要This paper addresses the design, construction, and motion control of an adjustable Scotch yoke mechanism generating desired kinematics for dolphin-like robots. Since dolphins propel themselves by dorsoventral oscillations following a sinusoidal path with alterable amplitudes, a two-motor-driven Scotch yoke mechanism is adopted as the primary propulsor to produce sinusoidal oscillations, where a certain combination of a leading screw mechanism and a rack and pinion mechanism driven by the slave motor are incorporated to independently change the length of the crank actuated by the master motor. Meanwhile, the output of the Scotch yoke, i.e., reciprocating motion, is converted into the up-and-down oscillations via a rack and gear transmission. A DSP-based built-in motion control scheme is then brought forth and applied to achieve dolphin-like propulsion. Preliminary tests, in a robotics context, confirm the feasibility of the devised mechanism severing as a dedicated propulsor for bio-inspired movements.
WOS标题词Science & Technology ; Technology
类目[WOS]Engineering, Mechanical
研究领域[WOS]Engineering
关键词[WOS]VEHICLES ; DESIGN
收录类别SCI
语种英语
WOS记录号WOS:000263293600008
源URL[http://ir.ia.ac.cn/handle/173211/3437]  
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		 Yu Junzhi,Hu Yonghui,Huo Jiyan,et al. Dolphin-like propulsive mechanism based on an adjustable Scotch yoke[J]. MECHANISM AND MACHINE THEORY,2009,44(3):603-614.
APA Yu Junzhi,Hu Yonghui,Huo Jiyan,&Wang Long.(2009).Dolphin-like propulsive mechanism based on an adjustable Scotch yoke.MECHANISM AND MACHINE THEORY,44(3),603-614.
MLA Yu Junzhi,et al."Dolphin-like propulsive mechanism based on an adjustable Scotch yoke".MECHANISM AND MACHINE THEORY 44.3(2009):603-614.

入库方式： OAI收割

来源：自动化研究所

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