Mechanical design of a slider-crank centered robotic dolphin

	Mechanical design of a slider-crank centered robotic dolphin
	Wei Changming; Yu Junzhi
	2012
会议名称	The 10th World Congress on Intelligent Control and Automation (WCICA 2012)
会议录名称	WCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
页码	3741-3746
会议日期	2012.07
会议地点	Beijing, China
摘要	This paper addresses the mechatronic issues of a novel bio-inspired roboticdolphin capable of fast swimming. The robot mechanically consists of a dorsoventrally propulsion mechanism, a turning mechanism, and an up-and-down mechanism. Since the swimming robot is predominantly driven by a series of DC motors and servo motors, the possible alternative to improve the swimming speed is to maximize the motor efficiency. Based on this idea, a new slider-crank centered flapping mechanism with the continuous rotation of the DC motor is proposed to mimic the oscillations of the posterior body and the fluke. Finally, the preliminary robotic prototype is built to validate the effectiveness of the formed robotic design ideas.
关键词	Robotic Dolphin Mechatronic Design Slidercrank Flapping Mechanism Motion Control
收录类别	IEEE
文献类型	会议论文
条目标识符	http://ir.ia.ac.cn/handle/173211/4954
专题	复杂系统认知与决策实验室_先进机器人
通讯作者	Wei Changming
推荐引用方式 GB/T 7714	Wei Changming,Yu Junzhi. Mechanical design of a slider-crank centered robotic dolphin[C],2012:3741-3746.