Abstract
This paper focuses on a three-dimensional (3D) dynamic model for a self-propelled, multilink dolphin-like robot to predict the dynamic behaviors of the bio-inspired artificial dolphin system within the framework of multibody dynamics. The propulsive structure involves a multilink tail and an oscillating fluke cooperatively achieving dorsoventral oscillations, as well as a pair of mechanical flippers performing flapping movements, which can actually be simplified as an open-chain, tree-like multibody with a mobile base. The Schiehlen method is further utilized to formulate the equations of the motion on the basis of a well-integrated kinematic and dynamic analysis of propulsive elements. A rough comparison between simulations and experiments on forward swimming and combined motions verifies the effectiveness of the formed model and corresponding locomotion control method.
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Yu, J., Li, Y., Hu, Y., Wang, L. (2008). Modeling and Control of a Link-Based Dolphin-Like Robot Capable of 3D Movements. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_105
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DOI: https://doi.org/10.1007/978-3-540-88513-9_105
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