Dynamic Analysis on the underwater swimming Robot
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.
Da-xu Zhao Bai Chen Shuang Qian Hong-tao Wu Fu-yang Tian
Jiangsu Key Laboratory of Precision and Micro-Manufacturing Technology,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China
国际会议
2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)
桂林
英文
1621-1626
2009-12-19(万方平台首次上网日期,不代表论文的发表时间)