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http://dx.doi.org/10.7736/KSPE.2016.33.7.571

Development of Biomimetic Underwater Vehicle using Single Actuator  

Jun, Myoung Jae (Department of Green Materials and Process R&BD Group, Korea Institute of Industrial Technology)
Kim, Dong Hyung (Department of Mechanical Engineering, Hanyang University)
Choi, Hyeun Seok (Department of Green Materials and Process R&BD Group, Korea Institute of Industrial Technology)
Han, Chang Soo (Department of Mechanical Engineering, Hanyang University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.33, no.7, 2016 , pp. 571-577 More about this Journal
Abstract
In this paper, we propose a novel propulsion method for a Biomimetic underwater robot, which is a bio-inspired approach. The proposed propulsion method mimics the pectoral fins of a real fish. Pectoral fins of real fish are able to propel and change direction. We designed the propulsion mechanism of 1 D.O.F. that has two functions (propel and change direction). We named this propulsion system 'Flipper'. The proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made an experimental underwater robot system and verified the proposed propulsion method. We measured its maximum speed and turning motion using an experimental underwater robot system. We also analyzed the thrust force from the maximum speed, using the thrust equation. Experimental results showed that our propulsion method enabled the thrust system of the biomimetic robot.
Keywords
Biomimetic robot; Underwater robot; Fish robot;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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