This paper introduces a concept for a biologically inspired modular swimming robot, which is able to perform different swimming styles of steady swimming species. Therefore the robot has two kinds of modules: basic structure, which creates the required torque and determines the swimming direction of the robot, effector modules that generate the robots propulsion in interaction with the surrounding liquid. Due to the specific task, the effector modules are exchangeable. This approach enables the gain of technical and biological knowledge: The results of research tend to a design that is suited to fulfill tasks in particular situations when common marine propeller driven robots are not able to work (e.g. an environment with many plants). In addition, the permutation of bio-analogous features in a robot improves understanding of the biological antetype. The current design of the effector modules is inspired by undulant swimming species, mainly sea snakes and eels. Biological research and mathematical modeling yielded to a three segmented tail structure. The coupling of the segments to each other uses spring elements. Therewith the swinging characteristics can be influenced by either changing the inertia of the segments or altering the spring stiffness of specific joinings. Both alternatives are feasible with the introduced modular robot. To evaluate the results of the executed simulation, the effector modules have to be tested in combination with the basic structure. Therewith the validation concerning the initial established assumptions of the robot is possible. In addition power consumption and swimming velocity tests need to be done. By following the idea of a versatilely deployable swimming robot, additional effector modules are required. Taking inspiration from the remaining classes of steady swimming fishes, these modules allow the investigation of carangiform, thunniform and ostraciiform swimming modes. Differences and similarities can be figured out and analyzed.
Locomotion study of a single actuated, modular swimming robot
2010
11 Seiten, 9 Bilder, 1 Tabelle, 13 Quellen
Aufsatz (Konferenz)
Englisch
Animal locomotion or walking, swimming, and flying
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