Abstract
The conventional screw propeller is widely used to propel boats and underwater vehicles. Recently, the use of a bio-inspired oscillating elastic fin has been proposed as an alternative propulsion mechanism in water. It is thought that the elastic fin will improve efficiency and safety, relative to the screw propeller. However, the optimum elasticity of the fin is not constant and changes based on swimming speed and task. Since it is very difficult to exchange fins of different stiffness while moving, we have developed a propulsion mechanism using a variable stiffness fin with torsional rectangular elastic plates. In this study, we made a model submersible to provide basic data for the development of the autonomous underwater vehicles using the variable stiffness fin. In this paper, we examined the propulsion characteristics of the model submersible by comparing the rectangle shaped variable stiffness fin and the variable stiffness fin with a crescent wing.
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