Design and evaluation of a fin-based underwater propulsion system

Peter, Benjamin St.; Ratnaweera, Roman; Fischer, Wolfgang; Pradalier, CÃ©dric; Siegwart, Roland

doi:10.1109/robot.2010.5509640

Cited by 19 publications

(4 citation statements)

References 15 publications

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“…A tail-like propulsion mechanism for an amphibious robot can be inspired from a cuttlefish because of the movement of the fins. This specie's locomotion mode is MPF which means that the undulating movement occurs in the lateral fins [14]. In Figure 6, the wavy-like pattern can be seen in the cuttlefish's fin.…”

Section: Figurementioning

confidence: 99%

A Design Methodology for Cuttlefish Shaped Amphibious Robot

Arslan¹,

Akça²

2019

European Journal of Science and Technology

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Most of the engineering problems can be easily solved by using biomimetic designs. Biomimetic is the process of imitating live animals to create new designs. For example, by mimicking the movements of a fish or snake, it is possible to transfer the desired swimming or crawling movements to a robot. This research is based on an amphibious robot where the propulsion system is imitated by a cuttlefish. In this study, to obtain the required sine wave motion for the cuttlefish's fin, crank-rocker mechanisms are used. Additionally, a circular slot mechanism was used to move these crank-rocker mechanism up and down as in the cuttlefish fins. Since the cuttlefish has two symmetrical wings, these crank-rocker and circular slot mechanisms are repeated symmetrically on both sides. Two separate servo motors (one on the right and one on the left) were used to control the angular position of the crankshafts in circular slots. These servo motors allow the fins to move up and down while the robot is in the water. They also serve to hold the wings at a fixed angle in terrestrial mode. In similar applied robotic researches, dozens of servo motors are used to obtain the required sine motion. This study proposes a propulsion system that can be operate with simple crank-rocker and circular slot mechanisms, instead of using too many servo motors that are expensive and constitutes control complexity. In this study, a design methodology is proposed for this new propulsion system. Various conditions have been considered in the design procedure. In the design criteria section, the required force and velocity, the capacity to overcome obstacles and the motion requirements has been considered for an amphibious robot. Furthermore, the requirements of a continuous movement for oscillating motion have been also considered. As a result of this study, minimum crank number and crank angles were obtained for the undulating motion. It has been also considered the necessary continuous balance condition, in order to make motion on land without tumbling. The calculation of the part lengths that meets the design criteria is described in the mechanism synthesis section.

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Section: Figurementioning

confidence: 99%

A Design Methodology for Cuttlefish Shaped Amphibious Robot

Arslan¹,

Akça²

2019

European Journal of Science and Technology

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“…However, due to their complex mechanical structures, these typical propulsion systems face challenges in achieving miniaturization. 2,6,[11][12][13][14][15][16][17][18] Although attempts have been made to develop miniature underwater robots with propulsion systems based on magnetism or biochemical methods, further improvements are still required due to inadequate generation of propulsion. [19][20][21][22][23][24][25][26] Ultrasonic transducers have outstanding advantages in underwater propulsion systems due to their low energy consumption, easy processing, strong anti-interference properties, and significant response sensitivity.…”

Section: Introductionmentioning

confidence: 99%

A miniature swimmer actuated by a PZT ring ultrasonic underwater propulsion system

Qian,

Kong,

Nagasaki

et al. 2024

Jpn. J. Appl. Phys.

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The study investigates a novel scheme utilizing the ring transducer for an acoustic underwater propulsion system. Acoustic underwater propulsion systems are well-suited for the inspection and repair of underwater robots due to their small size, high power density, and simple structure. Previous research has focused on self-propelled swimmers utilizing disc transducers. However, the radial vibration component of the disc transducer makes it difficult to provide propulsion for the acoustic underwater propulsion system driven by the acoustic driving force. Pure longitudinal vibration requires a thicker thickness to achieve the same vibration area, resulting in higher impedance and reduced driving efficiency. In this paper, Simulation, and measurements of vibration distribution demonstrate that the ring transducer exhibits a vibration distribution closely resembling pure longitudinal vibration. A prototype swimmer using a ring transducer was fabricated for experimental evaluation by measuring admittance characteristics, zero-speed propulsion, and no-load speed in water.

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“…However, mechanical structures are difficult to miniaturize. [1][2][3][4][5][6][7][8][9][10][11][12] Swimmer with magnetism and biochemistry methods can have locomotion. The propulsion force of the external magnetic and biochemical propulsion systems has a poor driving force.…”

Section: Introductionmentioning

confidence: 99%

Multi-degrees-of-freedom swimmer using an ultrasonic longitudinal transducer

Tanimura

Kong

Aoyagi

2022

Jpn. J. Appl. Phys.

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Acoustic underwater propulsion systems based on ultrasonic transducer have been studied. In previous research, the self-propelled acoustic swimmer using thickness-vibration-mode transducer is evaluated widely. The thickness-vibration-mode transducer is excited in the thickness and radial direction. Because the acoustic propulsion system is based on the acoustic driving force, the vibration in radial direction is hard to provide the propulsion thrust. In this study, a cylindrical transducer, the pure longitudinal vibrator, is evaluated for the acoustic underwater propulsion system. A prototype swimmer is designed and fabricated. The admittance difference of transducer in water and in air is investigated. The zero-speed propulsion (ZSP) force and no-load speed (NLS) are measured in water. Multi-degrees-of-freedom swimmer with the multiple cylindrical transducers is evaluated. Because of the small size, high power density, simple structure and multi-degrees-of-freedom, self-propelled acoustic swimmer is suitable for applications such as inspection and repairment robot in liquid environment.

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Design and evaluation of a fin-based underwater propulsion system

Cited by 19 publications

References 15 publications

A Design Methodology for Cuttlefish Shaped Amphibious Robot

A Design Methodology for Cuttlefish Shaped Amphibious Robot

A miniature swimmer actuated by a PZT ring ultrasonic underwater propulsion system

Multi-degrees-of-freedom swimmer using an ultrasonic longitudinal transducer

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