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Biomimetics
Volume 6
Issue 2
10.3390/biomimetics6020039
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Article

Design of a Depth Control Mechanism for an Anguilliform Swimming Robot

by
Ahmed Islam
and
Brandon Taravella
*
Department of Naval Architecture and Marine Engineering, University of New Orleans, New Orleans, LA 70148, USA
*
Author to whom correspondence should be addressed.
Biomimetics 2021, 6(2), 39; https://doi.org/10.3390/biomimetics6020039
Submission received: 26 April 2021 / Revised: 27 May 2021 / Accepted: 7 June 2021 / Published: 9 June 2021
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Abstract

This paper discusses the design and implementation of a depth control mechanism for an anguilliform swimming robot. Researchers analyzed three different methods of controlling the depth of the robot, including out-of-plane thrust direction, use of foil on the head and buoyancy control at the head and tail. It was determined that buoyancy control at the head and tail was the best method for controlling depth and pitch, given typical forward speeds of the robot. Details are given into the design of this mechanism, including a stress analysis on a critical part, as well as the impacts that these modifications have on the required torque of the drive servos.
Keywords: anguilliform; biomimetics; swimming robot anguilliform; biomimetics; swimming robot

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MDPI and ACS Style

Islam, A.; Taravella, B. Design of a Depth Control Mechanism for an Anguilliform Swimming Robot. Biomimetics 2021, 6, 39. https://doi.org/10.3390/biomimetics6020039

AMA Style

Islam A, Taravella B. Design of a Depth Control Mechanism for an Anguilliform Swimming Robot. Biomimetics. 2021; 6(2):39. https://doi.org/10.3390/biomimetics6020039

Chicago/Turabian Style

Islam, Ahmed, and Brandon Taravella. 2021. "Design of a Depth Control Mechanism for an Anguilliform Swimming Robot" Biomimetics 6, no. 2: 39. https://doi.org/10.3390/biomimetics6020039

APA Style

Islam, A., & Taravella, B. (2021). Design of a Depth Control Mechanism for an Anguilliform Swimming Robot. Biomimetics, 6(2), 39. https://doi.org/10.3390/biomimetics6020039

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