Knowledge Commons of Institute of Automation,CAS
Mechatronic design of a novel robotic manta with pectoral fins | |
Meng, Yan1,2![]() ![]() ![]() | |
2020-04-16 | |
会议名称 | IEEE International Conference on CYBER Technology in Automation, Control, and Intelligent Systems |
页码 | 439-444 |
会议日期 | 2019-7-29 |
会议地点 | Suzhou, China |
摘要 | This paper proposes an innovative design scheme of a manta-inspired robot system for both fast swimming and high maneuverability. Based on some hydrodynamic and biological studies on manta rays, a new pectoral fin with two separate DOFs is designed, to mimic the compound motion of two vertical waves as well as the tip trajectory of the natural pectoral fin, which have important influence on the efficient swimming of manta rays. Besides, a special buoyance adjustment mechanism is incorporated to pursue gliding ability and three-dimensional maneuverability of robotic manta. With novel structural design and powerful servomotors, the robotic manta is expected to achieve high propulsion efficiency while maintaining good swimming speed. Specifically, the motion principles and geometrical parameters of the pectoral fin are discussed in detail. Moreover, the basic control method of robotic manta is given and simulation analyses are conducted to verify the presented new design. |
DOI | 10.1109/CYBER46603.2019.9066722 |
收录类别 | EI |
语种 | 英语 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/48768 |
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 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 3.Peking Univ, Coll Engn, Beijing Innovat Ctr Engn Sci & Adv Technol, Dept Adv Mfg & Robot,State Key Lab Turbulence & C, Beijing 100871, Peoples R 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 | Meng, Yan,Wu, Zhengxing,Yu, Junzhi. Mechatronic design of a novel robotic manta with pectoral fins[C],2020:439-444. |
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