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Alternative TitleResearch on the gliding performance of underwater snake-like robots
唐敬阁; 李斌; 李志强; 常健
Source Publication高技术通讯
Contribution Rank1
Funding Organization国家自然科学基金(61333016)资助项目
Keyword水下蛇形机器人 水下滑翔蛇形机器人 动力学建模 水下机器人
Other AbstractBy adopting underwater gliders’strong endurance in ocean, and snake-like robots’good maneuverability in water, a novel underwater gliding snake-like robot was developed, which has the motion performances of strong en- durance and long range, as well as the good mobility and flexibility. The gliding motion performance of the de- signed underwater gliding snake-like robot was studied. First of all, the motion mechanism and joint structure of the robot were analyzed in the perspective of design. Secondly, the hardware and control system of the robot were structurally analyzed. The gliding motion equations of the robot were derived based on the theorem of momentum and moment of momentum, and they were simplified to a vertical plane. Finally, the simulation analysis of the equilibrium state was carried out, and the experimental verification to the movement ability was conducted. The experimental results demonstrate the effectiveness of the mechanism of the underwater gliding snake-like robot.
Document Type期刊论文
Corresponding Author唐敬阁
Recommended Citation
GB/T 7714
唐敬阁,李斌,李志强,等. 水下蛇形机器人的滑翔运动性能研究[J]. 高技术通讯,2017,27(3):269-276.
APA 唐敬阁,李斌,李志强,&常健.(2017).水下蛇形机器人的滑翔运动性能研究.高技术通讯,27(3),269-276.
MLA 唐敬阁,et al."水下蛇形机器人的滑翔运动性能研究".高技术通讯 27.3(2017):269-276.
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