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	Float State and Static Stability Analysis of the Biomimetic Robotic Dolphin Designed on the Change of the Barycenter
	Xiefeng Ou; Kai He; Peng Liu; Ruxu Du
	2011
会议名称	2011 2nd International Conference on Mechanic Automation and Control Engineering
会议地点	Inner Mongolia, China
英文摘要	In this paper, the structure of biomimetic robotic dolphin designed on changing the barycenter is described. Through abarycenter adjustor which can change the dolphin's center of gravity by swinging an inside counterweight, it can realize thedolphin'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. Thedolphin's zero trimming and trimming caused by the barycenter adjustor are analyzed and calculated. According to thebarycenter moving principle and the principle of the motion of a point in Cartesian coordinate system, the influence on thedolphin'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 thesubsequent mechanical design, control system design, simulation and optimum design for the biomimetic robotic dolphlin.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/3301]
专题	深圳先进技术研究院_集成所
作者单位	2011
推荐引用方式 GB/T 7714	Xiefeng Ou,Kai He,Peng Liu,et al. Float State and Static Stability Analysis of the Biomimetic Robotic Dolphin Designed on the Change of the Barycenter[C]. 见:2011 2nd International Conference on Mechanic Automation and Control Engineering. Inner Mongolia, China.

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