抄録
Thrusters that have a single propeller are used for underwater robots. The thrust force of the thruster differs according to the rotational direction of the propeller and, since the thrusters for underwater robot generally use magnet couplings, the rotational speed of the propeller cannot be measured directly. Then we are developing a prototype thruster with front and rear propellers. The thruster has sensing parts of rotational speed of propellers. In this paper, we present our developing thruster and show the basic experimental results of the thruster.
