Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability
Yu, Junzhi1,2; Zhang, Cheng1; Liu, Lianqing2
2016-06-01
发表期刊IEEE-ASME TRANSACTIONS ON MECHATRONICS
卷号21期号:3页码:1711-1719
文章类型Article
摘要This paper deals with a novel fast swimming robotic fish capable of high maneuverability and yet with less joints. On the basis of prior work on a single-motoractuated miniature robotic fish, we mainly stress three aspects: mechanical design, motion analysis, and posture control to strike a tradeoff between speediness and maneuverability. Specifically, an improved mechanical structure endows the robot with large thrust and increased range of movements. Motion analysis offers useful guidance to parameter settings of steady swimming. Besides, sine-based functions responsible for generating travelingwaves in conjunction with an analysis of parameter variation of oscillation amplitude of the fish tail serve the purpose to determine the posture of the robotic fish. Underwater tests on straight swimming and different turns demonstrate the effectiveness of the proposed methods and mechatronic designs. Remarkably, the robot attained amaximumswimming speed of 1.14 m/s (corresponding to 3.07 body lengths per second) in forward swimming, a turning rate of approximately 90 degrees/s in normal turns, and a turning rate of approximately 63.8 degrees/s in hybrid turns.
关键词Bioinspired Robot Control Engineering Maneuverability Mechanical Design Swimming Robot
WOS标题词Science & Technology ; Technology
学科领域控制理论与控制工程(先进机器人控制)
DOI10.1109/TMECH.2016.2517931
关键词[WOS]LOCOMOTION ; TRACKING ; SYSTEMS ; MODELS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61375102 ; Beijing Natural Science Foundation(3141002) ; State Key Laboratory of Robotics ; 61333016 ; 61573226)
WOS研究方向Automation & Control Systems ; Engineering
WOS类目Automation & Control Systems ; Engineering, Manufacturing ; Engineering, Electrical & Electronic ; Engineering, Mechanical
WOS记录号WOS:000375609900051
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/11498
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China
2.Chinese Acad Sci, State Key Lab Robot, Shenyang Inst Automat, Shenyang 110016, Peoples R China
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Yu, Junzhi,Zhang, Cheng,Liu, Lianqing. Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(3):1711-1719.
APA Yu, Junzhi,Zhang, Cheng,&Liu, Lianqing.(2016).Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(3),1711-1719.
MLA Yu, Junzhi,et al."Design and Control of a Single-Motor-Actuated Robotic Fish Capable of Fast Swimming and Maneuverability".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.3(2016):1711-1719.
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