단일 구동기로 수중 이동이 가능한 수중 이동체 개발
- Title
- 단일 구동기로 수중 이동이 가능한 수중 이동체 개발
- Other Titles
- Development of Biomimetic Underwater Vehicle using Single Actuator
- Author
- 한창수
- Keywords
- Biomimetic robot; 생체모방 로봇; Underwater robot; 수중로봇; Fish robot; 물고기 로봇
- Issue Date
- 2016-07
- Publisher
- 한국정밀공학회
- Citation
- 한국정밀공학회지, v. 33, No. 7, Page. 571-577
- 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.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06704296https://repository.hanyang.ac.kr/handle/20.500.11754/102599
- ISSN
- 1225-9071
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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