Development of a new propulsion mechanism inspired by the swimming motion of shrimp and its application to underwater robotics.

Abstract

A variety of underwater exploration robots are currently used for underwater exploration and research. Their main propulsion device is a screw propeller. While this mechanism is highly efficient and versatile, it has various problems, such as attracting marine organisms and malfunctioning due to the rotation of its wings. For this reason, underwater robots that mimic marine organisms have been widely studied. These underwater robots pose less danger to living creatures and are more environmentally suitable than screw propellers. This study describes a novel propulsion mechanism for underwater robots used for exploration of rivers and oceans. Unlike these underwater robot propulsion mechanisms, this study provides a novel propulsion mechanism inspired by shrimp swimming. Focusing on the shrimp's swimming technique of paddling its limbs, we developed a paddle-type propulsion mechanism that applies the movement of the shrimp's abdomen during swimming. To evaluate the effectiveness of the propulsion mechanism, experimental results of propulsive motion using the developed prototype were presented and analyzed. As a result, it was confirmed that this propulsion mechanism has a certain motion performance that can be used as a propulsion device for underwater robots. The establishment of a control method for phase differences in this study will also contribute to the generation of motion for underwater robots that move their fins in a certain pattern, such as rays and squids, which will be the subject of future research.