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- W2909496347 abstract "Humans are paying more and more attention to the shoal environment, but humans have limited operational capabilities there. Therefore, it is meaningful to create an amphibious robot.We used Portunus as a bionic object, and through biological observation, we learned the movement characteristics and morphological characteristics of the chelation foot, and designed a two-degree-of-freedom cheliped. We performed a kinematic analysis of the single-claw foot using the D-H method and the geometric method. Using the mechanism vector theory, we analyzed the relationship between the joint output angle and the displacement. For the closed-chain system formed by double-claw work, we analyzed the relationship between pose, velocity and acceleration of the double-claw foot. We use the Lagrangian method and the slicing theory to obtain the kinetic equation of the chelation, the water resistance torque and the additional mass moment, thus obtaining the hydrodynamic equation of the chelation. Then we use Matlab to simulate the moment of the joint during the underwater movement of the cheek. Finally, we conducted a demonstration experiment to prove that the chelating foot we designed has practical working ability." @default.
- W2909496347 created "2019-01-25" @default.
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- W2909496347 date "2018-10-01" @default.
- W2909496347 modified "2023-09-27" @default.
- W2909496347 title "Study on the operation method of the crablike Robot's chelipeds" @default.
- W2909496347 cites W2039925844 @default.
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- W2909496347 doi "https://doi.org/10.1109/oceans.2018.8604594" @default.
- W2909496347 hasPublicationYear "2018" @default.
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