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Title:
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Design and Implementation of a Biomimetic Turtle Hydrofoil for an Autonomous Underwater Vehicle
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Author:
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Font Calafell, Davinia; Tresánchez Ribes, Marcel; Siegentahler, Cedric; Pallejà Cabrè, Tomàs; Teixidó Cairol, Mercè; Pradalier, Cedric; Palacín Roca, Jordi
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Notes:
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This paper presents the design and implementation of a turtle hydrofoil for an
Autonomous Underwater Vehicle (AUV). The final design of the AUV must have
navigation performance like a turtle, which has also been the biomimetic inspiration for the
design of the hydrofoil and propulsion system. The hydrofoil design is based on a National
Advisory Committee for Aeronautics (NACA) 0014 hydrodynamic profile. During the
design stage, four different propulsion systems were compared in terms of propulsion path,
compactness, sealing and required power. The final implementation is based on a ball-andsocket
mechanism because it is very compact and provides three degrees of freedom (DoF)
to the hydrofoil with very few restrictions on the propulsion path. The propulsion obtained
with the final implementation of the hydrofoil has been empirically evaluated in a water
channel comparing different motion strategies. The results obtained have confirmed that
the proposed turtle hydrofoil controlled with a mechanism with three DoF generates can be
used in the future implementation of the planned AUV. |
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Subject(s):
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-AUV
-DoF
-Sea turtle locomotion |
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Rights:
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cc-by (c) Font et al., 2011
http://creativecommons.org/licenses/by/3.0/es/
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Document type:
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article
publishedVersion |
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Published by:
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MDPI
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Share:
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