2P1-L12 Omni-Directional Multi-link Propulsion Mechanism in Fluid Modeled on Bending Movement of Organisms : Propulsion by Addtion of Fin Movement(Bio-Mimetics and Bio-Mechatronics)

Abstract

Since most organisms are fairly autonomic, functional and efficient, the study of machines modeled on the movements of organisms is significant in the engineering field. From this point of view, we observed organisms that swim in water by bending motions, and noticed that the swimming direction of polychaete worm is different from that of nematode worm. This is explained that the existence of projecting protrusions of polychaete worm increases the tangential drag component of the body by the movement in water. We have developed the bio-inspired omni-directional multilink propulsion mechanism in fluid by changing the angle of fins corresponding to projecting protrusions. In this study, fin movement synchronized with bending movement was added to increase lateral swimming speed.