Dynamic modeling of multi-link swimming robot capable of 3-D motion
Yu, Junzhi1; Liu, Lizhong2; Tan, Min1
2007
会议名称2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
会议录名称IEEE International Conference on Mechatronics and Automation
会议日期August 5, 2007 - August 8, 2007
会议地点Harbin, China
摘要This paper presents a three-dimensional (3-D) dynamic model for free-swimming, flexible multi-link robots using Schiehlen method within the framework of multi-body dynamics. The swimming robots, like robotic fish and robotic dolphin, consist of a sequence of propulsive modules in series, which propels itself via undulatory/oscillatory locomotion and performs up-and-down motion by artificial pectoral fins. Mechanically, this robotic configuration is simply considered as an open, tree-structured multi-body system. The expressions for the hydrodynamic forces and momentums on the moving modules are based on quasi-steady hydrodynamics and oscillatory foil theory, and these are coupled with kinematic and dynamic analyses to derive complete dynamic equations in a form suited for controller design and computer simulation. The matching results between simulation with experimental results on a fourlink, multi-mode robotic fish show good agreement, which partially demonstrates the validity of the proposed model and the potential of its use for other flexible links based robots.
关键词Dynamic Modeling Underwater Robot Multibody dynamics Schiehlen Method Multi-link Robot
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13065
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Yu, Junzhi
作者单位1. Lab. of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China
2. Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China
推荐引用方式
GB/T 7714
Yu, Junzhi,Liu, Lizhong,Tan, Min. Dynamic modeling of multi-link swimming robot capable of 3-D motion[C],2007.
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