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	Dynamic modeling of multi-link swimming robot capable of 3-D motion
	Yu, Junzhi ; Liu, Lizhong ; Tan, Min
	2007
DOI	10.1109/ICMA.2007.4303741
英文摘要	This paper presents a three-dimensional (3-D) dynamic model for free-swimming, flexible multi-link robots using Schiehlen method within the framework of multi-body dynamics. The swimming robots, like robotic fish and robotic dolphin, consist of a sequence of propulsive modules in series, which propels itself via undulatory/oscillatory locomotion and performs up-and-down motion by artificial pectoral fins. Mechanically, this robotic configuration is simply considered as an open, tree-structured multi-body system. The expressions for the hydrodynamic forces and momentums on the moving modules are based on quasi-steady hydrodynamics and oscillatory foil theory, and these are coupled with kinematic and dynamic analyses to derive complete dynamic equations in a form suited for controller design and computer simulation. The matching results between simulation with experimental results on a fourlink, multi-mode robotic fish show good agreement, which partially demonstrates the validity of the proposed model and the potential of its use for other flexible links based robots. ? 2007 IEEE.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/263468]
专题	工学院
推荐引用方式 GB/T 7714	Yu, Junzhi,Liu, Lizhong,Tan, Min. Dynamic modeling of multi-link swimming robot capable of 3-D motion[C]. 见:.

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