NDLI: Float state and static stability analysis of the biomimetic robotic dolphin designed on the change of the barycenter

Content Provider	IEEE Xplore Digital Library
Author	Xiefeng Ou Kai He Peng Liu Ruxu Du
Copyright Year	2011
Description	Author affiliation: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, China (Xiefeng Ou; Kai He; Peng Liu) \|\| The Chinese University of Hong Kong, China (Ruxu Du)
Abstract	In this paper, the structure of biomimetic robotic dolphin designed on changing the barycenter is described. Through a barycenter adjustor which can change the dolphin's center of gravity by swinging an inside counterweight, it can realize the dolphin's pitching movement underwater. By means of the mass properties function of SolidWorks, the dolphin's buoyant center and barycenter, and the center of gravity for every part are analyzed and calculated. They are the foundation for further study. The dolphin's zero trimming and trimming caused by the barycenter adjustor are analyzed and calculated. According to the barycenter moving principle and the principle of the motion of a point in Cartesian coordinate system, the influence on the dolphin's float state and static stability caused by the counterweight swinging in vertical and horizontal longitudinal direction are respectively presented. The above analysis and calculation are validated by the moment balance principle. Finally, the factors which influence the dolphin's float state and static stability are discussed. The study in this paper is the foundation of the subsequent mechanical design, control system design, simulation and optimum design for the biomimetic robotic dolphlin.
Starting Page	4092
Ending Page	4095
File Size	311883
Page Count	4
File Format	PDF
ISBN	9781424494361
e-ISBN	9781424494392
DOI	10.1109/MACE.2011.5987902
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-15
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Barium Biomimetic robotic dolphin Robot kinematics Conferences Static stability Change of the barycenter Float state Stability analysis Trimming Dolphins
Content Type	Text
Resource Type	Article

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