CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
An adjustable Scotch Yoke mechanism for robotic dolphin
Yu, Junzhi; Hu, Yonghui; Huo, Jiyan; Wang, Long
2007
Conference Name2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Source PublicationIEEE International Conference on Robotics and Biomimetics
Conference DateDecember 15, 2007 - December 18, 2007
Conference PlaceYalong Bay, Sanya, China
AbstractThis 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.
KeywordBiomimetics Scotch Yoke Mechanism Design swimming Robot Robotic Dolphin
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/13066
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorYu, Junzhi
AffiliationLaboratory 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
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
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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