A01=Farah Abbas Naser
A01=Luigi Fortuna
A01=Mofeed Turky Rashid
Author_Farah Abbas Naser
Author_Luigi Fortuna
Author_Mofeed Turky Rashid
Category=PDG
Concave Pectoral Fins
Differential Drive Principle
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eq_isMigrated=1
eq_isMigrated=2
eq_nobargain
eq_non-fiction
eq_science
Glider Model and Center of Mass and Buoyancy
Labriform Swimming Robot
Product details
- ISBN 9789811237393
- Publication Date: 03 Dec 2021
- Publisher: World Scientific Publishing Co Pte Ltd
- Publication City/Country: SG
- Product Form: Hardback
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This book provides a simplified description of how to design an underwater swimming robot, inspired by the mechanism of the Labriform mode of fish. This style of swimming depends on the pectoral fins only as a main locomotor for movement. A unique model with fins having a concave shape allows the highest thrust force to be achieved during the power period and the lowest drag force during the recovery period, especially if the velocity values between the powering and recovery periods are manipulated.Besides the ability to swim quickly, the proposed model was also inspired by a method of maneuvering based on the principle of differential drive for two-wheel mobile robot, achieving the minimum turning radius by controlling the speed of the rowing fins.Also, by applying the technique of the diving model used by gliders, the robot achieves underwater gliding by changing the center of the body's mass. Thus, the robot obtains the ability to dive and float in a manner similar to the Sawtooth wave.All the mentioned tasks were conducted via laboratory experiments and proven to be both effective and efficient.
