CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Implementation of a multi-link robotic dolphin with two 3-DOF flippers
Shen Fei; Wei Changming; Cao Zhiqiang; Xu De; Yu Junzhi; Zhou Chao
Source PublicationJournal of Computational Information Systems
2011
Volume7Issue:7Pages:2601-2607
AbstractA robotic dolphin with a pair of 3-DOF flippers, two turning units and a multi-link oscillatory propulsion mechanism is designed. The mechanical, hardware and software designs of the robotic dolphin are given. The flippers are fixed on both sides of the anterior body and each one is endowed with the ability of lead-lag, feathering, and up-down motions. The yawing of the robotic dolphin is realized via controlling the two turning units. The multi-link oscillatory propulsion mechanism consists of four joints, in which the first joint adopts the structure of worm gear and shaft driven by a DC motor in order to provide large torque and the other three oscillatory hinge joints are directly driven by servos. The propulsion is achieved via the coordinated controlling of the four joints. The performance of the robotic dolphin is well verified in the experiments. 
KeywordMulti-link Structure 3-dof Flipper Motion Control Robotic Dolphin
Indexed ByEI
WOS IDWOS:20112814144095
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3398
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorCao Zhiqiang
AffiliationState Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation,Chinese Academy of Sciences, Beijing 100190, P. R. China
First Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Corresponding Author AffilicationInstitute of Automation, Chinese Academy of Sciences
Recommended Citation
GB/T 7714
Shen Fei,Wei Changming,Cao Zhiqiang,et al. Implementation of a multi-link robotic dolphin with two 3-DOF flippers[J]. Journal of Computational Information Systems,2011,7(7):2601-2607.
APA Shen Fei,Wei Changming,Cao Zhiqiang,Xu De,Yu Junzhi,&Zhou Chao.(2011).Implementation of a multi-link robotic dolphin with two 3-DOF flippers.Journal of Computational Information Systems,7(7),2601-2607.
MLA Shen Fei,et al."Implementation of a multi-link robotic dolphin with two 3-DOF flippers".Journal of Computational Information Systems 7.7(2011):2601-2607.
Files in This Item: Download All
File Name/Size DocType Version Access License
2011_7_7_2601_2607 I(311KB)期刊论文作者接受稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Shen Fei]'s Articles
[Wei Changming]'s Articles
[Cao Zhiqiang]'s Articles
Baidu academic
Similar articles in Baidu academic
[Shen Fei]'s Articles
[Wei Changming]'s Articles
[Cao Zhiqiang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Shen Fei]'s Articles
[Wei Changming]'s Articles
[Cao Zhiqiang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: 2011_7_7_2601_2607 Implementation of a Multi-link Robotic Dolphin with Two 3-DOF Flippers.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.