CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Mechanical design of a two-joint robotic fish
Zhang, Cheng; Yu, Junzhi; Tan, Min
2015
Conference Name18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
Source PublicationAssistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
Conference DateSeptember 6, 2015 - September 9, 2015
Conference PlaceHangZhou, China
AbstractIn this paper, we present the mechanical design of a novel robotic fish capable of fast swimming and yet with less joints. Prior to designing, the principle and goals for design are analyzed, in which the size, central pattern generator (CPG) model, and oscillatory frequency of robotic fish play an important role. Then, the mechanical structure of the two-joint robotic fish is designed. The first joint of the robotic fish is driven by a gear motor. The gear motor is linked to an eccentric wheel which rotates in a free slide. The second joint is driven by a connecting rod to make the two joints form an angle between them, allowing free direction adjustment and flexibility. After that, the mechatronic design and CPG-based control are described. Underwater tests are performed on the robotic fish, validating the effectiveness of the proposed design scheme. Particularly, the robotic fish reached a maximum speed of 0.7 body lengths per second, which is expected to be much faster after improvement. © 2015, World Scientific Publishing Co. Pte Ltd. All rights reserved.
KeywordMechanical Design
Subject Area控制理论与控制工程(先进机器人控制)
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11501
Collection复杂系统管理与控制国家重点实验室_先进机器人
AffiliationState Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
Recommended Citation
GB/T 7714
Zhang, Cheng,Yu, Junzhi,Tan, Min. Mechanical design of a two-joint robotic fish[C],2015.
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