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Thrust Force Characteristics of Bio-inspired Omnidirectional Multilink Propulsion Mechanism in Fluid

Shunichi Kobayash, Yu Oshima

Abstract


We observed organisms that swim in the 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 polychete worm increases the tangential drag component of the body by the movement in water. We have developed the bio-inspired omnidirectional multilink propulsion mechanism in water by changing the angle of fins correspoding to projecting protrusions. In this study, we formulated the resistive and reactive forces acting on fin of the mechanism, and computed the omni-directional thrust force of the mechanism.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2012.v8.758

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