Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot

Zhongyin Zhang; Liwei Shi; Shuxiang Guo; Pengxiao Bao

doi:10.1109/ROBIO54168.2021.9739634

Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot

Zhongyin Zhang
, Liwei Shi^*
, Shuxiang Guo^*
, Pengxiao Bao

^*Corresponding author for this work

Beijing Institute of Technology
Ministry of Education in China
Kagawa University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

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.

Original language	English
Title of host publication	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	738-743
Number of pages	6
ISBN (Electronic)	9781665405355
DOIs	https://doi.org/10.1109/ROBIO54168.2021.9739634
Publication status	Published - 2021
Externally published	Yes
Event	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 - Hybrid, Sanya, China Duration: 27 Dec 2021 → 31 Dec 2021

Publication series

Name	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021

Conference

Conference	2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021
Country/Territory	China
City	Hybrid, Sanya
Period	27/12/21 → 31/12/21

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

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10.1109/ROBIO54168.2021.9739634

Cite this

Zhang, Z., Shi, L., Guo, S., & Bao, P. (2021). Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 (pp. 738-743). (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO54168.2021.9739634

Zhang, Zhongyin ; Shi, Liwei ; Guo, Shuxiang et al. / Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. pp. 738-743 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

@inproceedings{1f5de284652942bb9f5e8dce90c2df72,

title = "Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot",

abstract = "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.",

author = "Zhongyin Zhang and Liwei Shi and Shuxiang Guo and Pengxiao Bao",

note = "Publisher Copyright: {\textcopyright} 2021 IEEE.; 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021 ; Conference date: 27-12-2021 Through 31-12-2021",

year = "2021",

doi = "10.1109/ROBIO54168.2021.9739634",

language = "English",

series = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "738--743",

booktitle = "2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021",

address = "United States",

}

Zhang, Z, Shi, L, Guo, S & Bao, P 2021, Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot. in 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Institute of Electrical and Electronics Engineers Inc., pp. 738-743, 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021, Hybrid, Sanya, China, 27/12/21. https://doi.org/10.1109/ROBIO54168.2021.9739634

Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot. / Zhang, Zhongyin; Shi, Liwei; Guo, Shuxiang et al.
2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc., 2021. p. 738-743 (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

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 -

Zhang Z, Shi L, Guo S, Bao P. Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot. In 2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021. Institute of Electrical and Electronics Engineers Inc. 2021. p. 738-743. (2021 IEEE International Conference on Robotics and Biomimetics, ROBIO 2021). doi: 10.1109/ROBIO54168.2021.9739634

Mechanism Design, Kinematics and Hydrodynamics Simulation of a Novel Rocker Driving Bionic Robot

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