Abstract
This paper deals with a development of underwater propulsion mechanisms and robots by using traveling-wave motion of flexible fins. In the study, two robots are developed. The one is a robot that has two flexible fins controlled independently for rotational and translational motions. And the other is a robot that can change fin form either for rotation motion or for translational motions. Propulsion and motion performances are experimentally evaluated. The propulsion force and the torque generated by the traveling-wave motion are measured in stationary water. As a result, smooth rotational and translational motions of the robots are obtained by the traveling-wave motion, and the effect of the traveling-wave motion on the propulsion force and torque is clarified with changing the frequency of the motion.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
