文档介绍：Mechanism and Machine Theory 44 (2009) 603–614
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Mechanism and Machine Theory
journal homepage: ate/mechmt
Dolphin-like propulsive mechanism based on an adjustable Scotch yoke
Junzhi Yu a,*, Yonghui Hu b, Jiyan Huo b, Long Wang b
a Laboratory plex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, . Box 2728, Beijing 100190, China
b Department of Mechanics and Space Technologies, Peking University, Beijing 100871, China
article info abstract
Article history: This paper addresses the design, construction, and motion control of an adjustable Scotch
Received 10 October 2007 yoke mechanism generating desired kinematics for dolphin-like robots. Since dolphins pro-
Received in revised form 21 July 2008 pel themselves by dorsoventral oscillations following a sinusoidal path with alterable
Accepted 26 August 2008
amplitudes, a two-motor-driven Scotch yoke mechanism is adopted as the primary propul-
Available online 17 October 2008
sor to produce sinusoidal oscillations, where a bination of a leading screw
mechanism and a rack and pinion mechanism driven by the slave motor are incorporated
to independently change the length of the crank actuated by the master motor. Meanwhile,
Keywords:
the output of the Scotch yoke, ., reciprocating motion, is converted into the up-and-down
Bio-inspired mechanism
Scotch yoke oscillations via a rack and gear transmission. A DSP-based built-in motion control scheme
Amplitude modulation mechanism is then brought forth and applied to achieve dolphin-like propulsion. Preliminary tests, in a
Mechanical design robotics context, confirm the feasibility of the devised mechanism severing as a dedicated
Dolphin-like robot propulsor for bio-inspired movements.
Ó 2008 Elsevier Ltd. All rights reserved.
1. Introduction
Bio-inspired swimming robots such as fish-like and dolphin-like robots are receiving widespread attention within the
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