물고기형 수중로봇의 유영메커니즘 및 알고리즘 개발(1)
Development of swimming mechanism and algorithm for fish-type underwater robot(1)
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초록
Generally, underwater vehicle type of propeller shows low efficiency about 50% - 55%. However, the efficiency of swimming mechanism of a fish is 60% -70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.
Abstract
Generally, underwater vehicle type of propeller shows low efficiency about 50% - 55%. However, the efficiency of swimming mechanism of a fish is 60% -70%, more efficient about 20% than screw propellers. Recently, research of underwater vehicle type of fish increase due to its good efficiency and is regarded as a typical bio-mimical robot. In this research, a new algorithm and mechanism that show low energy consumption imitating swimming mechanism of fish proposed increasing speed and running time in field trial.
참고문헌 (6)
- 물고기의 추진을 모방한 로봇의 개발, "조강진", 연세대학교 기계공학부, ~
- 김은정, "물고기 로봇-PoTuna의 설계 및 해석", 석사, pp.2003
- N. Kato, "Bio-mechanisms of Swimming and Flying" (2008), Springer
- Norifumi OHGISHI, "A study on the Propulsive Mechanism of a Double jointed Fish Robot Utilizing Self-Excitation Control", Proceedings of The 6th Intl’ Conf. on MOVIC2002, 46(3), pp.982~990 (2003)
- TAKESUE NAOYUKI, "Development of Fish Robot for River Survey and Experiments of Its Swimming Performance", JROS, 2006, pp.1P1~E28 (2006)
- Motomu Nakashima, "Three-Dimensional Maneuverability of the Dolphin Robot (Roll Control and Loop-the-Loop Motion). in: Bio-mechanisms of Swimming and Flying", pp.79~92 (2004), Springer