CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Mechanical design of a slider-crank centered robotic dolphin
Wei Changming; Yu Junzhi
2012
Conference NameThe 10th World Congress on Intelligent Control and Automation (WCICA 2012)
Source PublicationWCICA 2012 - Proceedings of the 10th World Congress on Intelligent Control and Automation
Pages3741-3746
Conference Date2012.07
Conference PlaceBeijing, China
AbstractThis 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.
KeywordRobotic Dolphin Mechatronic Design Slidercrank Flapping Mechanism Motion Control
Indexed ByIEEE
Document Type会议论文
Identifierhttp://ir.ia.ac.cn/handle/173211/4954
Collection复杂系统管理与控制国家重点实验室_先进机器人
Corresponding AuthorWei Changming
Recommended Citation
GB/T 7714
Wei Changming,Yu Junzhi. Mechanical design of a slider-crank centered robotic dolphin[C],2012:3741-3746.
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