Design and simulation of a robotic jellyfish based on mechanical structure drive and adjustment
Li, Xiangbin; Yu, Junzhi
2015
会议名称34th Chinese Control Conference, CCC 2015
会议录名称Chinese Control Conference, CCC
会议日期July 28, 2015 - July 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 ofthe 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. © 2015 Technical Committee on Control Theory, Chinese Association of Automation.
关键词Simulation Robotic Jellyfish Linkage Mechanisms Barycenter Adjustment Mechanism
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13038
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State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing, China
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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