TY - GEN
T1 - Analysis of underwater locomotion and improvement of FroBot
AU - Yi, Yang
AU - Jianqing, Zhang
AU - Han, Xu
AU - Maokuan, Chen
AU - Lu, Zhang
AU - Zhongjing, Zhu
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2016/9/26
Y1 - 2016/9/26
N2 - The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot.
AB - The main characteristic of FroBot is the dual-swing-legs propulsion mechanism, and it is necessary for us to conduct a series of experiments to study its propulsion model, both on land and underwater. As the propulsion of FroBot comes from the interaction force between caudal fins and water when it locomotes underwater, this paper presents an analysis about the propulsion and control of angle Θ. Then a number of underwater hydrodynamic simulations and analysis are also conducted to get a better control in reality. Finally, on the basis of propulsion model and experiments, we present the latest mechanical structure designs and further improvements to eliminate the limitations exposed in the previous generations of FroBot.
UR - https://www.scopus.com/pages/publications/84992361718
U2 - 10.1109/AIM.2016.7576839
DO - 10.1109/AIM.2016.7576839
M3 - Conference contribution
AN - SCOPUS:84992361718
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 633
EP - 638
BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Y2 - 12 July 2016 through 15 July 2016
ER -