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과소작동 시스템을 사용한 Bio-inspired 수중로봇 개발

Title
과소작동 시스템을 사용한 Bio-inspired 수중로봇 개발
Other Titles
Development of Bio-inspired underwater robot using an underactuated system
Author
전명재
Alternative Author(s)
Jun, Myoung jae
Advisor(s)
한창수
Issue Date
2018-02
Publisher
한양대학교
Degree
Doctor
Abstract
In this paper, we propose a novel propulsion method of Bio-inspired underwater robot, which is bio-inspired approach. Proposed propulsion method mimicked from the pectoral fins of real fish. Pectoral fins of real fish is able to propel and change direction. We designed propulsion mechanism of 1 D.O.F that has two function(propel, change direction). We named this propulsion mechanism "Flipper". Proposed propulsion method can control forward, pitch and yaw motion using the Flipper. We made experimental underwater robot system and verified proposed propulsion method. We measured of its speed(Flipper: 30RPM) and turning motion through the experimental underwater robot system. And we analyzed thrust force from the max speed using the thrust equation. Experimental results showed that our propulsion method enabled to thruster of Bio-inspired underwater robot.
URI
http://www.dcollection.net/handler/hanyang/000000105468http://repository.hanyang.ac.kr/handle/20.500.11754/69273
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHATRONICS ENGINEERING(메카트로닉스공학과) > Theses (Ph.D.)
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