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Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach
Tian BQ(田宝强); Yu JC(俞建成)
作者部门水下机器人研究室
会议名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
会议日期June 8-12, 2015
会议地点Shenyang, China
会议录名称2015 IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (CYBER)
出版者IEEE
出版地Piscataway, NJ, USA
2015
页码1253-1258
收录类别EI ; CPCI(ISTP)
EI收录号20161402187701
WOS记录号WOS:000380502300230
产权排序1
ISSN号2379-7711
ISBN号978-1-4799-8730-6
关键词Wave-driven Unmanned Surface Vehicle D-h Approach Lagrangian Mechanics Dynamic Analysis
摘要Wave-driven unmanned surface vehicle (WUSV) is a new concept marine robot drived by wave energy and solar energy, very suitable for the observing vast oceans with incomparable endurance. Firstly, the multibody system of WUSV is described based on D-H approach and the velocity and position of each moving part in WUSV are represented. Then, the driving principle is analyzed and the WUSV dynamic model in three dimension is established by Lagrangian mechanics. Finally, we perform the motion simulation of WUSV under certain sea conditions. These tasks provide the theoretical foundation for further study on the WUSV motion control and efficiency analysis.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/17500
专题水下机器人研究室
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.University of Chinese Academy of Sciences, Beijing, China
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Tian BQ,Yu JC. Lagrangian dynamic modeling of wave-driven unmanned surface vehicle in three dimensions based on the D-H approach[C]. Piscataway, NJ, USA:IEEE,2015:1253-1258.
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