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Development of a Bioinspired Underwater Robot Using a Single Actuator.

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Bibliographic Details
Title: Development of a Bioinspired Underwater Robot Using a Single Actuator.
Authors: Myoung-Jae Jun1, Chang-Soo Han2 cshan@hanyang.ac.kr
Source: Marine Technology Society Journal. Sep/Oct2017, Vol. 51 Issue 5, p94-102. 9p.
Subjects: Remote submersibles, Robotics in oceanography, Propulsion systems, Kinetic energy, Autonomous underwater vehicles, Humanoid robots, Robot control systems, Actuators
Abstract: We propose a novel propulsion mechanism for an underwater robot inspired by the pectoral fins of a fish. This device is referred to as the "flipper." The flipper is connected to a rotational motor, and its shape is similar to that of the real fish's fins. The flipper using the propulsion mechanism proposed in this study has 1 degree of freedom. We can control the test robot during forward motion as well as its direction-changing operation. The experimental test robot is composed of a flipper at the front of the robot's head, together with a body and a tail/vertical fin. The electronic components are installed into the body. The tail functions to maintain the horizontal/vertical balance of the robot. Forward propulsion is achieved through the rotation of the flipper. The robot's direction can be changed by repeated oscillation of the flipper in a direction opposite to that of the desired angle. Several experiments were performed to measure the thrust force of the experimental robot and its motion characteristics in a test water pool. The experimental results show that the proposed propulsion method is viable. [ABSTRACT FROM AUTHOR]
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Database: Engineering Source
Description
Abstract:We propose a novel propulsion mechanism for an underwater robot inspired by the pectoral fins of a fish. This device is referred to as the "flipper." The flipper is connected to a rotational motor, and its shape is similar to that of the real fish's fins. The flipper using the propulsion mechanism proposed in this study has 1 degree of freedom. We can control the test robot during forward motion as well as its direction-changing operation. The experimental test robot is composed of a flipper at the front of the robot's head, together with a body and a tail/vertical fin. The electronic components are installed into the body. The tail functions to maintain the horizontal/vertical balance of the robot. Forward propulsion is achieved through the rotation of the flipper. The robot's direction can be changed by repeated oscillation of the flipper in a direction opposite to that of the desired angle. Several experiments were performed to measure the thrust force of the experimental robot and its motion characteristics in a test water pool. The experimental results show that the proposed propulsion method is viable. [ABSTRACT FROM AUTHOR]
ISSN:00253324
DOI:10.4031/MTSJ.51.5.11