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Swimming of Bio-inspired Omni-Directional Aquatic Multi-link Propulsion Mechanisms

Shunichi Kobayashi

Abstract


We observed organisms that swim in water by bending motions and noticed that the swimming direction of polychaete worm is different from that of nematode worm. This is explained that the existence of projecting protrusions of polychaete worm increases the tangential drag component of the body by the movement in water. We have developed the bio-inspired omni-directional multilink propulsion mechanism in water by changing the angle of fins corresponding to projecting protrusions. In this study, we have conducted the examination of swimming for two mechanisms. Furthermore we applied the rotation of fin in synchronization with bending movement of the mechanism to increase the lateral swimming speed.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.317

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