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Dynamic modeling of multi-link swimming robot capable of 3-D motion
Yu, Junzhi1; Liu, Lizhong2; Tan, Min1
Conference Name2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007
Source PublicationIEEE International Conference on Mechatronics and Automation
Conference DateAugust 5, 2007 - August 8, 2007
Conference PlaceHarbin, China
AbstractThis 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.
KeywordDynamic Modeling Underwater Robot Multibody dynamics Schiehlen Method Multi-link Robot
Document Type会议论文
Corresponding AuthorYu, Junzhi
Affiliation1. 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
Recommended Citation
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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