4つヒレを有する全方向推進水中ロボットの潜水浮上性能評価

抄録

In this paper, the diving and floating performance was evaluated for an omni-directional propulsion underwater robot (Cerchio). The Cerchio has a structure in which four fins are arranged at 90-degree intervals, and each fin has two-DOFs, the pitch axis and the yaw axis. The direction of diving and floating is controlled by the angle of the pitch axis, and the speed is controlled by the frequency and amplitude of the yaw axis. The performance was evaluated from the movement trajectory with the angle of the pitch axis as a parameter. From the results, the maximum horizontal deviation of ±10cm and the maximum rotation angle of 49deg were observed at present conditions. It was found that it is possible to control the propulsion direction and speed by adjusting the angle of the pitch axis. The maximum speeds of diving and floating were 0.080m/s and 0.098m/s, respectively.