Development of surface vehicle with single motor by gliding locomotion

Y. Fuwa, T. Takimoto
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引用次数: 1

Abstract

The conventional screw propeller is widely used for ships and water vehicles. However, the screw propeller has safety problems that get entangled in the fish net or the algae. In addition, the propulsion by the screw consumes a lot of energy. The goal of our research is the development of an alternative propulsion method for the unmanned surface vehicle to the screw propeller. In this paper, we focus on the gliding locomotion which is defined as the forward motion by the difference of the friction between the normal direction and the tangential direction. In particular, we have considered a mechanism of the surface vehicle propulsion with the gliding locomotion using only single servo motor. Moreover, we have developed a model vehicle with the proposed propulsion which can drive forward and gyrate. Then, we have shown experimental result and consider the performance.
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单电机滑行式地面车辆的研制
常规螺旋桨广泛应用于船舶和水上交通工具。然而,螺旋推进器存在被渔网或藻类缠绕的安全问题。此外,螺杆的推进消耗了大量的能量。我们的研究目标是开发一种替代螺旋推进器的无人水面飞行器推进方法。本文主要研究滑动运动,将滑动运动定义为利用法向与切向之间的摩擦力差进行的向前运动。特别地,我们考虑了一种仅使用单个伺服电机进行滑行运动的水面飞行器推进机制。此外,我们还开发了一种具有上述推进装置的模型车,该模型车可以向前行驶,也可以旋转。然后给出了实验结果并对性能进行了考虑。
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