|Design of an omnidirectional three-tail bio-inspired autonomous underwater robot
|Jing, X. J. (ME)
|Hong Kong Polytechnic University -- Dissertations
Remote submersibles -- Design and construction
|Faculty of Engineering
|x, 63 pages : color illustrations
|As the ocean has drawn great attention on environmental issues and resources, as well as scientific and military tasks, the demand of underwater robot systems have become more apparent. As a novel bio-inspired underwater vehicle, this paper introduces a three-tailed, omnidirectional motion, modular bionic robot and its utilization in specific field. The robot can perform a variety of motion modes in the water through a 6-degree-of-freedom tail structure, each tail consisting of three modular joints, where the swing and pitch are driven by a coupling structure to obtain a larger torque. Design a schematic diagram of each joint and draw a 3D model of the structure through SolidWorks platform to create a prototype based on the sketch. The movement of marine life, such as tuna, frogs, manta rays, etc., is simulated by the swinging and flapping of the tail structure. Different motion modes and directions can be converted by adjusting the instantaneous transition of the tail. So the experiment was carried out on the robots with different driving tails, switching between the motion modes, sharp turning, large radius turning, and the robots completed the experiment well. Through the experiment, the robot's omnidirectional motion ability, high agility, mobility, and stability are verified by the angle change and the position data acquisition during the robot motion.
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