水中ロボットにおける昇降可能な推進メカニズム

抄録

Currently, the main propulsion device for underwater exploration robots is screw propellers. Problems include low mobility, stopping due to feather rotation, failure, and the risk of harming living organisms.Therefore, in order to overcome the above limits, we propose a new propulsion mechanism that can be lifted and dropped. In this paper, we describe in detail the method of lifting and descending by the propulsion mechanism that manufactures and proposes a prototype. From this prototype, a series of operation controls are performed, and the effectiveness of the proposed propulsion mechanism is shown.