Dynamic Analysis on the underwater swimming Robot

摘要：

This paper deals with the kinematics and dynamics of an in-pipe underwater swimming robot. To provide a basis for the structure design and motion control of the in-pipe swimming robot, the dynamics and kinematics model of 6-DOF spatial motion in a specific three-dimensional pipeline are established. The Dynamics characteristic performances and the needed driving force when the robot swims along the planned trajectory are calculated.

作者: Da-xu Zhao Bai Chen Shuang Qian Hong-tao Wu Fu-yang Tian

作者单位: Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1621-1626

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）