Design and simulation of a robotic jellyfish based on mechanical structure drive and adjustment

	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, 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.