Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism
Xiao Jundong; Yu Junzhi
2013
会议名称Chinese Control Conference
会议录名称32nd Chinese Control Conference, CCC 2013
会议日期2013
会议地点Xi'an, China
摘要Inspired by the characteristics of high agility and stability of live jellyfish, a novel biomimetic robotic jellyfish based on multi-linkage mechanism is developed in this paper. The robotic jellyfish consists of a streamlined head, a cavity shell, four driving devices with bevel gears, four actuators based on multi-linkage mechanism, a regulating mechanism for adjusting barycenter and a skin. The four centrosymmetric actuators is used to imitate the locomotion of jellyfish, including the relaxation phase and the contraction phase. The mutually independent and coordinated control of the four actuators is able to achieve diversified movements such as swimming forward, pitching and yawing. As a new type of bio-inspired robots, the robotic jellyfish with high agility, stability and low noise, will serve as a platform for underwater reconnaissance and environmental monitoring.
关键词Bio-inspired Robot Robotic Jellyfish Multi-linkage Mechanism
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13048
专题复杂系统管理与控制国家重点实验室_先进机器人
推荐引用方式
GB/T 7714
Xiao Jundong,Yu Junzhi. Design and implementation of a biomimetic robotic jellyfish based on multi-linkage mechanism[C],2013.
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