水中におけるパドル式推進機構の研究

抄録

In this research, we aim to develop a new promotion mechanism for seabed exploration. Focusing on the shrimp swimming legs, we propose a propulsion mechanism applying shrimp swimming during swimming abdominal limbs and design based on design philosophy. This mechanism can perform shimming on the shrimp using the Scotch Yoke mechanism simulating swimming legs. We connect 4 pairs of this mechanism to the right and left, power source uses only one actuator, power transmission is carried out with pulleys and belts. Also, the left and right movements are synchronized by fixing with the shaft rod. We test prototype and verify its effectiveness by carrying out experimental experiment.