CASIA OpenIR  > 09年以前成果
Three-dimensional dynamic modelling of robotic fish: simulations and experiments
Yu, Junzhi1; Liu, Lizhong2; Tan, Min1
2008-08-01
发表期刊TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
卷号30期号:3-4页码:239-258
文章类型Article
摘要This paper deals with a three-dimensional (3-D) dynamic model for a free-swimming, multi-link fish-like robot to predict the dynamic characteristics of an artificial fish system using the Schiehlen method in the context of multibody dynamics. The robotic fish, according to propulsive mechanisms employed by fish, propels itself using lateral oscillations and achieves a climb or descent manoeuvre exploiting a pair of pectoral fins. Mechanically, the robotic fish consists of a stiff head, a flexible rear body and an oscillating lunate caudal fin, which can essentially be viewed as an open, tree-like multibody system. The kinematic analysis is then integrated with hydrodynamic analysis on multiple moving elements to derive complete dynamic equations in a form suited for computer implementation as well as controller design. A variety of locomotion behaviours, through regulating parametric sets, can be reproduced. Numerical simulations and actual experiments on degenerative planar swimming and combined motions are finally compared, which partially demonstrate the effectiveness of the built model.
关键词Dynamic Modelling Multibody Dynamics Robotic Fish Schiehlen Method Underwater Robot
WOS标题词Science & Technology ; Technology
关键词[WOS]LOCOMOTION ; VEHICLES ; FOILS
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Instruments & Instrumentation
WOS类目Automation & Control Systems ; Instruments & Instrumentation
WOS记录号WOS:000258609200004
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9671
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.Peking Univ, Dept Mech & Space Technol, Beijing 100871, Peoples R China
推荐引用方式
GB/T 7714
Yu, Junzhi,Liu, Lizhong,Tan, Min. Three-dimensional dynamic modelling of robotic fish: simulations and experiments[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2008,30(3-4):239-258.
APA Yu, Junzhi,Liu, Lizhong,&Tan, Min.(2008).Three-dimensional dynamic modelling of robotic fish: simulations and experiments.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,30(3-4),239-258.
MLA Yu, Junzhi,et al."Three-dimensional dynamic modelling of robotic fish: simulations and experiments".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL 30.3-4(2008):239-258.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Lizhong]的文章
[Tan, Min]的文章
百度学术
百度学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Lizhong]的文章
[Tan, Min]的文章
必应学术
必应学术中相似的文章
[Yu, Junzhi]的文章
[Liu, Lizhong]的文章
[Tan, Min]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。