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Dolphin-like propulsive mechanism based on an adjustable Scotch yoke
Yu Junzhi; Hu Yonghui; Huo Jiyan; Wang Long
Source PublicationMECHANISM AND MACHINE THEORY
2009-03-01
Volume44Issue:3Pages:603-614
SubtypeArticle
AbstractThis paper addresses the design, construction, and motion control of an adjustable Scotch yoke mechanism generating desired kinematics for dolphin-like robots. Since dolphins propel themselves by dorsoventral oscillations following a sinusoidal path with alterable amplitudes, a two-motor-driven Scotch yoke mechanism is adopted as the primary propulsor to produce sinusoidal oscillations, where a certain combination of a leading screw mechanism and a rack and pinion mechanism driven by the slave motor are incorporated to independently change the length of the crank actuated by the master motor. Meanwhile, the output of the Scotch yoke, i.e., reciprocating motion, is converted into the up-and-down oscillations via a rack and gear transmission. A DSP-based built-in motion control scheme is then brought forth and applied to achieve dolphin-like propulsion. Preliminary tests, in a robotics context, confirm the feasibility of the devised mechanism severing as a dedicated propulsor for bio-inspired movements.
KeywordBio-inspired Mechanism Scotch Yoke Amplitude Modulation Mechanism Mechanical Design Dolphin-like Robot
WOS HeadingsScience & Technology ; Technology
WOS KeywordVEHICLES ; DESIGN
Indexed BySCI
Language英语
WOS Research AreaEngineering
WOS SubjectEngineering, Mechanical
WOS IDWOS:000263293600008
Citation statistics
Cited Times:29[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/3437
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
Recommended Citation
GB/T 7714
Yu Junzhi,Hu Yonghui,Huo Jiyan,et al. Dolphin-like propulsive mechanism based on an adjustable Scotch yoke[J]. MECHANISM AND MACHINE THEORY,2009,44(3):603-614.
APA Yu Junzhi,Hu Yonghui,Huo Jiyan,&Wang Long.(2009).Dolphin-like propulsive mechanism based on an adjustable Scotch yoke.MECHANISM AND MACHINE THEORY,44(3),603-614.
MLA Yu Junzhi,et al."Dolphin-like propulsive mechanism based on an adjustable Scotch yoke".MECHANISM AND MACHINE THEORY 44.3(2009):603-614.
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