Hydrodynamics of an Under-actuated Plesiosaur-inspired robot.
2017
Underwater vehicles are increasingly important tools for use in science
and engineering, but maneuverability and mission life seem to be
mutually exclusive goals. Inspired by the unique swimming method of the
plesiosaur, which used four flippers of essentially equal size and
musculature, we analyzed designed and built an underwater vehicle with
the potential for both gliding and active maneuvering modes. Using 2D
simulations and strip theory approximation to account for the changing
arc length along the flipper span, we studied the wake and forces on the
foils and determined the optimum flipper geometry, spacing and
kinematics. To reduce mechanical and control complexity and cost, we
next studied the impact of under-actuated kinematics. Even after
optimizing pivot location and range of motion, leaving the foils free to
pitch was found to reduce efficiency by approximately 50%. Based on
these specifications, the vehicle was built and tested over a range of
free swimming and maneuvering cases using motion tracking equipment. The
excellent maneuverability of the under-actuated vehicle validates the
concept, and the new platform should enable further detailed
experimental measurements in the future.
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