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Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China.(2)Department of Mechanics and Engineering Science, Peking University, Beijing 100871, China
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.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Lizhong]的文章
[Wang, Long]的文章
百度学术
百度学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Lizhong]的文章
[Wang, Long]的文章
必应学术
必应学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Lizhong]的文章
[Wang, Long]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。