J0202-3-4 A study on quick-turning of submersible robot with caudal fin

Abstract

To realize quick-turning motion of an underwater vehicle, we calculate swimming and turning motion of a model underwater vehicle. We also develop an underwater machine with 2-DoF. Results of the calculation show that the model machine has propulsive force enough to go straight at 1m/s, and that can turn to 180 deg in less than 0.5 s. On the other hand, result of experiment is by far slower than that of model calculation. The machine velocity is around 0.12 m/s and it turns to 80 deg in about 2 s. Causes of the difference are discussed, such as lack of treatment of vibration of the body.