TY - GEN
T1 - Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot
AU - Zhang, Zhongyin
AU - Shi, Liwei
AU - Guo, Shuxiang
AU - Bao, Pengxiao
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - With the gradual development of the Marine field, the underwater robot has gradually entered people's perspective. However, the structure and control of the current amphibious robot is too complex, and most of them need to switch two sets of structures to adapt to the amphibious environment. Therefore, a simple and reliable robot that can adapt to two environments with seven sets of structures is urgently needed. Based on the undulation motion principle of ray's pectoral fin, the undulation mechanism driven by 6 groups of crank rocker mechanism on both sides is designed, and the rocker mechanism is connected by rubber material to form the fin driven by rocker. The structure modeling and kinematics simulation of the robot are carried out, and it is confirmed that the mechanism of the ray can move effectively and the fin can realize regular fluctuation, which verifies the feasibility of the bionic ray underwater robot.
AB - With the gradual development of the Marine field, the underwater robot has gradually entered people's perspective. However, the structure and control of the current amphibious robot is too complex, and most of them need to switch two sets of structures to adapt to the amphibious environment. Therefore, a simple and reliable robot that can adapt to two environments with seven sets of structures is urgently needed. Based on the undulation motion principle of ray's pectoral fin, the undulation mechanism driven by 6 groups of crank rocker mechanism on both sides is designed, and the rocker mechanism is connected by rubber material to form the fin driven by rocker. The structure modeling and kinematics simulation of the robot are carried out, and it is confirmed that the mechanism of the ray can move effectively and the fin can realize regular fluctuation, which verifies the feasibility of the bionic ray underwater robot.
UR - https://www.scopus.com/pages/publications/85128181588
U2 - 10.1109/ROBIO54168.2021.9739634
DO - 10.1109/ROBIO54168.2021.9739634
M3 - Conference contribution
AN - SCOPUS:85128181588
T3 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
SP - 738
EP - 743
BT - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Y2 - 27 December 2021 through 31 December 2021
ER -
