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This book provides a simplified description of how to design an
underwater swimming robot, inspired by the mechanism of the
Labriform mode of fish. This style of swimming depends on the
pectoral fins only as a main locomotor for movement. A unique model
with fins having a concave shape allows the highest thrust force to
be achieved during the power period and the lowest drag force
during the recovery period, especially if the velocity values
between the powering and recovery periods are manipulated.Besides
the ability to swim quickly, the proposed model was also inspired
by a method of maneuvering based on the principle of differential
drive for two-wheel mobile robot, achieving the minimum turning
radius by controlling the speed of the rowing fins.Also, by
applying the technique of the diving model used by gliders, the
robot achieves underwater gliding by changing the center of the
body's mass. Thus, the robot obtains the ability to dive and float
in a manner similar to the Sawtooth wave.All the mentioned tasks
were conducted via laboratory experiments and proven to be both
effective and efficient.
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