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

doi:10.1007/s12204-014-1485-7

Abstract

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

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

CLC Number:

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]. Journal of shanghai Jiaotong University (Science), 2014, 19(2): 160-168.

References

[1] Guan Xin, Zhang Su-min, Zhan Jun. A real-time simulation model for automotive suspension based on Kane’s method [J]. Automotive Engineering, 2010,32(8): 649-653 (in Chinese).
[2] Sun Zhang-geng, Jin Guo-guang, Chang Zhi, et al.Research of dynamic modeling of flexible manipulator system based on Kane’s method and its mode interception[J]. Journal of Tianjin Polytechnic University,2009, 28(4): 61-63 (in Chinese).
[3] Zhao D X. Dynamic analysis on a feeding and unloading manipulator using Kane’s method combined with screw theory [C]//Proceedings of the 2012 International Conference on Industrial Control and Electronics Engineering. Xi’an, China: IEEE, 2012: 999-1002.
[4] Huang Y H, Liao Q Z, Wei S M, et al. Dynamics modeling and analysis of a front-wheel drive bicycle robot moving on a slope [C]//Proceedings of the 2010 IEEE International Conference on Automation and Logistics. Hong Kong, China: IEEE, 2010: 43-48.
[5] Yang C F, Huang Q T, Ye Z M, et al. Dynamic modeling of a spatial 6-DOF parallel robots using Kane method for control purposes [C]//Proceedings of the 2010 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics. Nanjing, China: IEEE, 2010: 180-183.
[6] Ge X F, Jin J T. Dynamics analyze of a dualarm space robot system based on Kane’s method [C]//Proceedings of the 2010 2nd International Conference on Industrial Mechatronics and Automation.Wuhan, China: IEEE, 2010: 646-649.
[7] Xia Dan, Chen Wei-shan, Liu Jun-kao, et al. Dynamic modeling of a fishlike robot with undulatory motion based on Kane’s method [J]. Journal of Mechanical Engineering, 2009, 45(6): 41-49 (in Chinese).
[8] Li Xin-you, Chen Wu-yi, Han Xian-guo. Dynamics analysis of a 3UPS/S parallel mechanism based on Kane equations [J]. Machine Tool & Hydraulics, 2011,39(13): 1-5 (in Chinese).
[9] Shen Fei, Chao Zhi-qiang, Xu De, et al. A dynamic model of robotic dolphin based on Kane method and its speed optimization method [J]. Acta Automatica Sinica, 2012, 38(8): 1247-1256 (in Chinese).
[10] Cheng G, Shan X L. Dynamics analysis of a parallel hip joint simulator with four degree of freedoms(3R1T) [J]. Nonlinear Dynamics, 2012, 70(4): 2475-2486.
[11] Liu X B. A Lie group formulation of Kane’s equations for multibody systems [J]. Multibody System Dynamics,2008, 20(1): 29-49.
[12] You W, Kong M X, Du Z J, et al. High efficient inverse dynamic calculation approach for a haptic device with pantograph parallel platform [J]. Multibody System Dynamics, 2009, 21(3): 233-247.
[13] Lin C C, Chen R C, Li T L. Experimental determination of the hydrodynamic coefficients of an underwater manipulator [J]. Journal of Robotic Systems, 1999,16(6): 329-338.
[14] Safak K K, Adams G G. Dynamic modeling and hydrodynamic performance of biomimetic underwater robot locomotion [J]. Autonomous Robots, 2002, 13(3):223-240.