Title :
Dynamic analysis on the underwater swimming robot
Author :
Zhao, Da-xu ; Chen, Bai ; Qian, Shuang ; Wu, Hong-tao ; Tian, Fu-yang
Author_Institution :
Jiangsu Key Lab. of Precision & Micro-Manuf. Technol., Nanjing Univ. of Aeronaut. & Astronaut., Nanjing, China
Abstract :
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.
Keywords :
mobile robots; motion control; robot dynamics; robot kinematics; underwater vehicles; 6-DOF spatial motion; in-pipe swimming robot; motion control; robot dynamic analysis; robot kinematics; underwater swimming robot; Biomimetics; Blood; Force control; Friction; Legged locomotion; Marine animals; Motion control; Pipelines; Robot kinematics; Service robots;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420387
