과소작동 시스템을 사용한 Bio-inspired 수중로봇 개발

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.