An adjustable Scotch Yoke mechanism for robotic dolphin
Yu, Junzhi; Hu, Yonghui; Huo, Jiyan; Wang, Long
2007
会议名称2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
会议录名称IEEE International Conference on Robotics and Biomimetics
会议日期December 15, 2007 - December 18, 2007
会议地点Yalong Bay, Sanya, China
摘要This paper describes the design, construction, and performance analysis of an adjustable Scotch yoke mechanism mimicking the dorsoventral movement for dolphin-like robots. Since dolphins propel themselves by vertical oscillations following a sinusoidal path with alterable amplitudes, a two-motor-driven Scotch yoke mechanism is adopted as the main propulsor to generate sinusoidal oscillations, where leading screw mechanism and rack and pinion mechanism actuated by the minor motor are incorporated to independently change the length of the crank actuated by the major motor. Meanwhile, the output of the Scotch yoke, i.e., reciprocating motion, is converted into the up-and-down oscillation via rack and gear transmission. A motion control scheme based on the novel Scotch yoke is then formed and applied to achieve desired propulsion. Preliminary tests in a robotics context finally confirm the feasibility of the developed mechanism in mechanics and propulsion.
关键词Biomimetics Scotch Yoke Mechanism Design swimming Robot Robotic Dolphin
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/13066
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Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, P.O.Box 2728, 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,Hu, Yonghui,Huo, Jiyan,et al. An adjustable Scotch Yoke mechanism for robotic dolphin[C],2007.
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