Towards development of a slider-crank centered self-propelled dolphin robot |
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Authors: | Junzhi Yu Changming Wei |
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Affiliation: | 1. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences , Beijing , 100190 , China junzhi.yu@ia.ac.cn;3. State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences , Beijing , 100190 , China |
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Abstract: | This paper is devoted to the mechatronic design and implementation of a dolphin-like robot capable of fast swimming. In the context of multiple coordinated control surfaces, a set of serially connected flapping modules is responsible for dorsoventral oscillations, an internal moving slider for pitch control and a yaw joint for lateral turns. To improve the swimming speed, an updated modular slider-crank-based flapping mechanism that fully capitalizes on the continuous high-speed rotation of the DC motor is proposed and constructed. With the proposed mechanisms, the resulting dolphin robot achieved a high level of propulsive speed, largely illustrating the validity of the present design scheme. |
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Keywords: | mechatronic design slider-crank flapping mechanism dolphin robot dolphin-like swimming |
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