Mechanical design of a two-joint robotic fish

	Mechanical design of a two-joint robotic fish
	Zhang, Cheng; Yu, Junzhi; Tan, Min
	2015
会议名称	18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
会议录名称	Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015
会议日期	September 6, 2015 - September 9, 2015
会议地点	HangZhou, China
摘要	In 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.
关键词	Mechanical Design
学科领域	控制理论与控制工程（先进机器人控制）
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11501
专题	复杂系统认知与决策实验室_先进机器人
作者单位	State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zhang, Cheng,Yu, Junzhi,Tan, Min. Mechanical design of a two-joint robotic fish[C],2015.

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