Design of a snake-like swimming mechanism based on wave propagation in a vibrating cantilever beam

Abstract

In this study a locomotion mechanism which is similar to snake and fish swimming has been developed by using the natural vibration behavior of a simple cantilever beam (thin metal film). The swimming locomotion of the mechanism that is driven by wave propagation motion of the metal film has been confirmed by experiments. A metal cantilever beam (metal film), which is forced to vibrate at natural frequency by using a simple micro vibration motor, generates a propelling force, such as a fish fin that fluctuates in the liquid. And in this way, the swimming locomotion is provided in the specified directions depending on the orientation of the beam. In this way, it is aimed to develop an innovative and low energy consumption locomotion mechanism. The effects of design variables such as beam length and width, which effect the beam's natural frequency and locomotion performance, have been experimentally investigated on various test prototypes. The direction control and maneuverability of the robot can be improved by adding a second cantilever beam. Analytical calculations and experimental results showed the applicability of the proposed approach and the design. The locomotion mechanism introduced in the study has the potential to be used in micro robotic applications with its maneuverability and low energy consumption features.