Three-dimensional swimming robotic fish with slide-block structure:   design and realization

doi:10.1017/S0263574713001173

CORC > 北京大学 > 工学院

	Three-dimensional swimming robotic fish with slide-block structure: design and realization
	Jia, Yongnan ; Wang, Long
刊名	robotica
	2014
关键词	Autonomous underwater vehicles Biomimetic robots Mechatronic systems SLENDER FISH
DOI	10.1017/S0263574713001173
英文摘要	This paper focuses on the mechanism design of a slide-block structure and its application on a biomimetic modular robotic fish for three-dimensional swimming. First, as a barycenter-adjustor, the slide-block structure is integrated into a mechanical design of a robotic fish, which is constructed by a control module, a driving module, and a fan-shaped caudal fin. The three-dimensional locomotion of robotic fish is decomposed into two-dimensional locomotion in horizontal plane and ascent-descent locomotion in vertical plane. Both the kinematics of the horizontal swim and the dynamics of the ascent-descent swim are analyzed by the curve fitting method. Finally, experimental results validate the three-dimensional swimming capability of the robotic fish. Furthermore, the impact of two design parameters on the swimming capability of the robotic fish is discussed by the experimental method. The experimental results confirm that the robotic fish with one driving module and a fan-shaped low-aspect-ratio caudal foil can produce higher propulsive speed than other parameter combinations.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000337957300010&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Robotics; SCI(E); EI; 0; ARTICLE; ynjia@pku.edu.cn; 5; 823-834; 32
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/315773]
专题	工学院
推荐引用方式 GB/T 7714	Jia, Yongnan,Wang, Long. Three-dimensional swimming robotic fish with slide-block structure: design and realization[J]. robotica,2014.
APA	Jia, Yongnan,&Wang, Long.(2014).Three-dimensional swimming robotic fish with slide-block structure: design and realization.robotica.
MLA	Jia, Yongnan,et al."Three-dimensional swimming robotic fish with slide-block structure: design and realization".robotica (2014).