| Title | Simulation and Experiment of Dual-mode Motion Characteristics of a Magnetically Controlled Miniature Soft Quadruped Underwater Robot 磁控微型软体四足水下机器人双模式运动特性的仿真与试验 |
| Creator | |
| Date Issued | 2023-06-01 |
| Source Publication | Jixie Gongcheng Xuebao/Journal of Mechanical Engineering
 |
| ISSN | 0577-6686 |
| Volume | 59Issue:11Pages:179-188 |
| Abstract | Due to its small size and light weight, cableless magnetically controlled miniature robots have broad application prospects in the fields of biomedicine and micromanipulation. A cross-fork shaped magnetically controlled miniature soft quadruped robot is designed, and underwater movement is achieved by using either jellyfish mode or propeller mode. Firstly, the dynamic analysis of the jellyfish mode and the propeller mode of the magnetic quadruped robot is carried out respectively. Through simulations and experiments, both modes are compared and analysed for static characteristics and dynamic characteristics, including the relationship between the magnetic field strength and bending characteristics, the relationship between the flapping amplitude, frequency and the velocity in jellyfish mode, the relationship between step size and the cone angle, and between the frequency and the velocity in propeller mode, etc. In both modes, control signals are designed to achieve vertical upward movement, hovering, horizontal movement, and other underwater actions, and simple path tracking tests are realized. The simulation and experiment of the magnetically controlled miniature quadruped underwater robot provide a new idea for its application. |
| Keyword | jellyfish mode magnetically controlled miniature soft robot propeller mode quadruped underwater robot |
| DOI | 10.3901/JME.2023.11.179 |
| URL | View source |
| Language | 中文Chinese |
| Scopus ID | 2-s2.0-85166469531 |
| Citation statistics | |
| Document Type | Journal article |
| Identifier | http://repository.uic.edu.cn/handle/39GCC9TT/11577 |
| Collection | Beijing Normal-Hong Kong Baptist University |
| Corresponding Author | Wang，Shoujun |
| Affiliation | 1.Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control,Tianjin University of Technology,Tianjin,300384,China 2.National Demonstration Center for Experimental Mechanical and Electrical Engineering Education,Tianjin University of Technology,Tianjin,300384,China 3.Division of Culture and Creativity,Beijing Normal University - Hong Kong Baptist University United International College,Zhuhai,519087,China |
| Recommended Citation GB/T 7714 | Xiang，Hongbiao,Chen，Zhuo,Liu，Jiying等. Simulation and Experiment of Dual-mode Motion Characteristics of a Magnetically Controlled Miniature Soft Quadruped Underwater Robot 磁控微型软体四足水下机器人双模式运动特性的仿真与试验[J]. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 2023, 59(11): 179-188. |
| APA | Xiang，Hongbiao, Chen，Zhuo, Liu，Jiying, Song，Yang, Zhang，Mian, & Wang，Shoujun. (2023). Simulation and Experiment of Dual-mode Motion Characteristics of a Magnetically Controlled Miniature Soft Quadruped Underwater Robot 磁控微型软体四足水下机器人双模式运动特性的仿真与试验. Jixie Gongcheng Xuebao/Journal of Mechanical Engineering, 59(11), 179-188. |
| MLA | Xiang，Hongbiao,et al."Simulation and Experiment of Dual-mode Motion Characteristics of a Magnetically Controlled Miniature Soft Quadruped Underwater Robot 磁控微型软体四足水下机器人双模式运动特性的仿真与试验". Jixie Gongcheng Xuebao/Journal of Mechanical Engineering 59.11(2023): 179-188. |
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