|Development of a Fast-Swimming Dolphin Robot Capable of Leaping|
|Yu, Junzhi; Su, Zongshuai; Wu, Zhengxing; Tan, Min
|发表期刊||IEEE-ASME TRANSACTIONS ON MECHATRONICS
|摘要||It remains a great challenge for a biomimetic dolphin robot to leap out of the water by reason of requirements for very high speed and exquisite motion control. In this paper, we estimate the minimum exit speed that allows the dolphin to completely leap out of the water, and for the first time, we build a self-contained leaping dolphin robot with commercially available actuators and power supply. To quantify the possible impact of the body length on the minimum exit speed during the leap, we employ a rigid body model rather than a particle model to numerically evaluate the leaping process. Furthermore, a robotic prototype intended for leap motions is created, with particular emphasis on streamlining and high-thrust tail propulsive mechanism designs in conjunction with a passive control strategy for the dorsoventral propulsion. Underwater tests on the untethered dolphin robotdemonstrate the effectiveness of the proposed methods and mechatronic designs. We found that the dolphin robot successfully performed leaps with a length-specific speed of over 2.3 body lengths per second, and an emergence angle ranging between 35 and 60°.|
Minimum Exit Speed
|WOS标题词||Science & Technology
|项目资助者||National Natural Science Foundation of China(61375102
; Beijing Natural Science Foundation(3141002
; National Defense Science and Technology Innovation Fund of the Chinese Academy of Sciences(CXJJ-16M110)
|WOS研究方向||Automation & Control Systems
|WOS类目||Automation & Control Systems
; Engineering, Manufacturing
; Engineering, Electrical & Electronic
; Engineering, Mechanical
|作者单位||State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, 100190, China|
Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,et al. Development of a Fast-Swimming Dolphin Robot Capable of Leaping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2016,21(5):2307-2316.
Yu, Junzhi,Su, Zongshuai,Wu, Zhengxing,&Tan, Min.(2016).Development of a Fast-Swimming Dolphin Robot Capable of Leaping.IEEE-ASME TRANSACTIONS ON MECHATRONICS,21(5),2307-2316.
Yu, Junzhi,et al."Development of a Fast-Swimming Dolphin Robot Capable of Leaping".IEEE-ASME TRANSACTIONS ON MECHATRONICS 21.5(2016):2307-2316.