A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method

doi:10.1007/s12204-014-1485-7

上海交通大学学报（英文版） ›› 2014, Vol. 19 ›› Issue (2): 160-168.doi: 10.1007/s12204-014-1485-7

A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超)

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

出版日期:2014-04-30 发布日期:2014-04-29
通讯作者: WANG Xu-yang(王旭阳) E-mail:wangxuyang@sjtu.edu.cn

A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超)

(School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiaotong University, Shanghai 200240, China)

Online:2014-04-30 Published:2014-04-29
Contact: WANG Xu-yang(王旭阳) E-mail:wangxuyang@sjtu.edu.cn

摘要/Abstract

摘要： In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane’s approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.

关键词: underwater quadruped walking robot, dynamic model, Kane dynamic equations

Abstract: In this paper, the kinematics and dynamics of an underwater quadruped walking robot were derived based on Kane dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The velocity and angular velocity components of an underwater quadruped walking robot were served as the generalized velocities. The forces which contribute to dynamics of an underwater quadruped walking robot were determined by Kane’s approach. The equations of hydrodynamic forces of an underwater quadruped walking robot were deduced. Hydrodynamic coefficients were determined by experiments. The dynamic model was established by obtaining the generalized active forces and the generalized inertia forces. Numerical simulations of the walking behavior on underwater flat ground were implemented to verify the dynamic model of an underwater quadruped walking robot. Simulation results show that the dynamic model is correct.

Key words: underwater quadruped walking robot, dynamic model, Kane dynamic equations

中图分类号:

TP 242.6

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超). A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method[J]. 上海交通大学学报（英文版）, 2014, 19(2): 160-168.

YANG Ke (杨柯), WANG Xu-yang* (王旭阳), GE Tong (葛彤), WU Chao (吴超). A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method[J]. Journal of shanghai Jiaotong University (Science), 2014, 19(2): 160-168.

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A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method

A Dynamic Model of an Underwater Quadruped Walking Robot Using Kane’s Method

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