Dynamic modeling of robotic fish using Schiehlen’s method

	Dynamic modeling of robotic fish using Schiehlen’s method
	Yu, Junzhi; Liu, Lizhong; Wang, Long
	2006
会议名称	2006 IEEE International Conference on Robotics and Biomimetics, ROBIO 2006
会议录名称	IEEE International Conference on Robotics and Biomimetics, ROBIO
会议日期	December 17, 2006 - December 20, 2006
会议地点	Kunming, China
其他摘要	This paper provides a preliminary study on dynamic modeling of a multi-link robotic fish based on Schiehlen's multi-body dynamic equation. According to propulsive mechanism of real fish, the robotic fish propels itself using lateral oscillation and achieves a climb or descent maneuver employing a pair of pectoral fins. The designed robotic fish is mechanically composed of stiff anterior body, flexible rear body, and an oscillating lunate caudal fin, which can simply be viewed as an open, treed multi-body system. The kinematic analysis is then integrated with dynamic analysis to build complete dynamic equations in a form suited for controller design and computer simulation. Finally, simulations and experimental results are compared for straight swim and circular motion, which partially shows the validity of the proposed model.
关键词	Robotic Fish Dynamic Modeling Multi-body Dynamics Schiehlen Method
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/13072
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Yu, Junzhi
作者单位	Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
第一作者单位	中国科学院自动化研究所
通讯作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Yu, Junzhi,Liu, Lizhong,Wang, Long. Dynamic modeling of robotic fish using Schiehlen’s method[C],2006.