Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of Biomimetic Underwater Vehicle using Single Actuator

단일 구동기로 수중 이동이 가능한 수중 이동체 개발

  • 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)
  • 전명재 (한국생산기술연구원 청정생산시스템연구소) ;
  • 김동형 (한양대학교 기계공학과) ;
  • 최현석 (한국생산기술연구원 청정생산시스템연구소) ;
  • 한창수 (한양대학교 기계공학과)
  • Received : 2015.12.10
  • Accepted : 2016.03.28
  • Published : 2016.07.01
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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

References

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