Braking Performance of a Biomimetic Squid-Like Underwater Robot

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

Abstract

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

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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