Design Consideration of Bio-Inspired Contractible Water-Jet Propulsor for Mini Autonomous Underwater Robot

摘要：

The main aim of this paper is to discuss the general design considerations for contractible water-jet propulsion system for mini underwater robot locomotion.The motivation of this paper is the problems that occurred to the motorized turbine blade propeller for a lower than centimeter scale underwater robot.Contractile water-jet propulsion mechanism is proposed to counter the turbine blade problem.In this research,active materials had been proposed as the actuator for the contractile function.The integration of active material structure and passive structure caused significant consequence on the kinematic and dynamic of the robot.This including the dimension variation,stress distribution as well as contraction force which affects the hydrodynamic efficiency of the propulsion.Several essential design considerations were highlighted and discussed.

关键词： Contractible propulsor Active material actuator Mini underwater robot Propulsion system

作者: Muhammad Farid Shaari Zahurin Samad Mohd Elmi Abu Bakar Mariatti Jaafar

作者单位: School of Mechanical Engineering,Universiti Sains Malaysia,14300 Nibong Tebal,Pulau Pinang,Malaysia School of Aerospace Engineering,University Sains Malaysia,14300 Nibong Tebal,Pulau Pinang,Malaysia School of Materials and Mineral Resources Engineering,Universiti Sains Malaysia,14300 Nibong Tebal,P

会议类型: 国际会议

会议名称: 2012 2nd International Conference on Advanced Material Research(2012 第二届先进材料研究国际会议 ICAMR2012)

会议地点: 成都

会议语种:英文

页码: 1583-1588

在线出版日期: 2012-01-07（万方平台首次上网日期，不代表论文的发表时间）