Design and Simulation of a Robotic Jellyfish Based on Mechanical Structure Drive and Adjustment

doi:10.1109/ChiCC.2015.7260571

	Design and Simulation of a Robotic Jellyfish Based on Mechanical Structure Drive and Adjustment
	Li Xiangbin; Yu Junzhi
	2015
会议名称	Chinese Control Conference (CCC)
会议录名称	the 34th Chinese Control Conference (CCC)
会议日期	July 28-30, 2015
会议地点	Hangzhou, China
摘要	This paper presents a novel jellyfish-inspired swimming robot whose mechanical design, control algorithm, and motion analysis are discussed and manifested in detail. In consideration of few research on robotic jellyfish capable of three-dimensional movement with mechanical drive and actuator, we propose an improved design mainly featuring six-bar linkage mechanisms as the actuators and a barycenter adjustment mechanism as an attitude regulator. To imitate the real jellyfish and to reduce drag, the robotic jellyfish is comprised of a streamlined head, a cavity shell, and an elastic rubber skin around the drive units. Meanwhile a bio-inspired central pattern generators control model is imported. To validate the feasibility of the maneuverability with designed motion mechanism and free attitude regulation, dynamic analysis and simulation experiment are conducted. The obtained results show the conceived novel robotic jellyfish can accomplish all motion tasks desired.
关键词	Robotic Jellyfish Linkage Mechanisms Barycenter Adjustment Mechanism Simulation
DOI	10.1109/ChiCC.2015.7260571
收录类别	EI
语种	英语
引用统计
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/11738
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Li Xiangbin
作者单位	Institute of Automation, Chinese Academy of Sciences
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Li Xiangbin,Yu Junzhi. Design and Simulation of a Robotic Jellyfish Based on Mechanical Structure Drive and Adjustment[C],2015.

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