论文信息 - Initial development of a flapping propelled unmanned underwater vehicle (UUV)

Initial development of a flapping propelled unmanned underwater vehicle (UUV)

This paper studied the swimming modes of aquatic animals, then the development and experiment of a flapping propelled, radio-controlled UUV are described. The vehicle consists of a pair of flexible flapping wings as propeller; a pare of elevators and a rudder at the end of the shell provide the hydro-kinetic force for attitude control. The UUV prototype has a 70 cm wingspan, 50 cm length and a tonnage of 3.8 kg, with three-channel radio control system and a 1300 mAh M-Poly rechargeable battery for no less than 20 minutes of swimming. Speed achieved 0.7 m/s in the swimming test and the speed-length ratio is 1.4. The flexible biotic UUV should be further developed to adapt practical uses.

[1] K.H. Low. Parametric Study of Modular and Reconfigurable Robotic Fish with Oscillating Caudal Fin Mechanisms , 2007, 2007 International Conference on Mechatronics and Automation.

[2] L. Rosenberger,et al. Pectoral fin locomotion in batoid fishes: undulation versus oscillation. , 2001, The Journal of experimental biology.

[3] K. H. Low,et al. Biomimetic Motion Planning of an Undulating Robotic Fish Fin , 2006 .

[4] C. C. Lindsey. 1 - Form, Function, and Locomotory Habits in Fish , 1978 .

[5] Matthew T. Keennon,et al. Development of Two MAVs and Vision of the Future of MAV Design , 2003 .

[6] Max F. Platzer,et al. Improved Performance and Control of Flapping-Wing Propelled Micro Air Vehicles , 2004 .

[7] K. H. Low. Maneuvering and Buoyancy Control of Robotic Fish Integrating with Modular Undulating Fins , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[8] Sunil Kumar Agrawal,et al. Design of flapping mechanisms based on transverse bending phenomena in insects , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..