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Three-dimensional dynamic modelling of robotic fish: simulations and experiments
Yu, Junzhi1; Liu, Lizhong2; Tan, Min1
Source PublicationTRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
2008-08-01
Volume30Issue:3-4Pages:239-258
SubtypeArticle
AbstractThis 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.
KeywordDynamic Modelling Multibody Dynamics Robotic Fish Schiehlen Method Underwater Robot
WOS HeadingsScience & Technology ; Technology
WOS KeywordLOCOMOTION ; VEHICLES ; FOILS
Indexed BySCI
Language英语
WOS Research AreaAutomation & Control Systems ; Instruments & Instrumentation
WOS SubjectAutomation & Control Systems ; Instruments & Instrumentation
WOS IDWOS:000258609200004
Citation statistics
Cited Times:9[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9671
Collection09年以前成果
Affiliation1.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
Recommended Citation
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.
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