Braking Performance of a Biomimetic Squid-Like Underwater Robot

doi:10.1016/S1672-6529(13)60222-X

J4 ›› 2013, Vol. 10 ›› Issue (3): 265-273.doi: 10.1016/S1672-6529(13)60222-X

收稿日期:2012-11-10 修回日期:2013-06-03 出版日期:2013-07-10 发布日期:2013-07-10
作者简介:Md. Mahbubar Rahman, Sinpei Sugimori, Hiroshi Miki, Risa Yamamoto, Yugo Sanada, Yasuyuki Toda

Braking Performance of a Biomimetic Squid-Like Underwater Robot

Md. Mahbubar Rahman, Sinpei Sugimori, Hiroshi Miki, Risa Yamamoto, Yugo Sanada,

Laboratory of Hull Form Design, Department of Naval Architecture and Ocean Engineering, Graduate School of Engineering, Osaka University, Osaka 565-0871, Japan

Received:2012-11-10 Revised:2013-06-03 Online:2013-07-10 Published:2013-07-10
Contact: Md. Mahbubar Rahman E-mail:md.mahbubar@gmail.com
About author:Md. Mahbubar Rahman, Sinpei Sugimori, Hiroshi Miki, Risa Yamamoto, Yugo Sanada, Yasuyuki Toda

摘要/Abstract

关键词: biomimetics, squid-like underwater robot, undulating fin propulsion system, braking performance, motion simulation

Abstract:

In this study, the braking performance of the undulating fin propulsion system of a biomimetic squid-like underwater robot was investigated through free run experiment and simulation of the quasi-steady mathematical model. The quasi-steady equa-tions of motion were solved using the measured and calculated hydrodynamic forces and compared with free-run test results. Various braking strategies were tested and discussed in terms of stopping ability and the forces acting on the stopping stage. The stopping performance of the undulating fin propulsion system turned out to be excellent considering the short stopping time and short stopping distance. This is because of the large negative thrust produced by progressive wave in opposite direction. It was confirmed that the undulating fin propulsion system can effectively perform braking even in complex underwater explorations.

Key words: biomimetics, squid-like underwater robot, undulating fin propulsion system, braking performance, motion simulation

c. [J]. J4, 2013, 10(3): 265-273.

Md. Mahbubar Rahman, Sinpei Sugimori, Hiroshi Miki, Risa Yamamoto, Yugo Sanada, . Braking Performance of a Biomimetic Squid-Like Underwater Robot[J]. J4, 2013, 10(3): 265-273.

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Braking Performance of a Biomimetic Squid-Like Underwater Robot

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