AQUA is an underwater hexapod robot that uses its paddles to propel itself and control its orientation. To aid in the vehicle development, a simulation was needed to predict the motion of the robot based on its paddle oscillations. The most difficult aspect of this simulation was the characterization of the forces generated by the paddles oscillating in the water. In this work, a model predicting the forces produced by an oscillating rigid paddle was developed and validated experimentally. Tests were performed on an experimental setup, which was designed and built to measure the forces and torques produced by a paddle oscillating in a water tank. Also, the forces produced by a flexible fin were determined experimentally and were compared to those generated by the rigid paddle. Finally, a simulation of the AQUA robot was developed, based on the validated rigid paddle model.


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    Title :

    Simulation of an underwater hexapod robot


    Additional title:

    Simulation eines Hexapod-Unterwasserroboters


    Contributors:

    Published in:

    Ocean Engineering ; 36 , 1 ; 39-47


    Publication date :

    2009


    Size :

    9 Seiten, 27 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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