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Home > Robots > Cuttlefish Robot |
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The
Robots
Cuttlefish
Robot
This robot was designed to emulate the fin motion of a
cuttlefish. The 'fins' are connected to 12 servos on each
side. The servos move in a sinusoidal motion to create
a propulsive force. The robot sits on the surface of the
water with the fins below the waterline. The propulsive
forces can be forwards or backwards on either side of
the robot. Thus the robot is like a tracked vehicle but
for use on the water surface. The servos are controlled
by a bank of Basic Stamp1 and 2 microcomputers. The robot
worked quite well even though its not glamorous looking.
However certain frequencies of fin oscillation would excite
hull pitching and rolling natural frequencies which posed
extremely interesting damping problems to be solved. Future
work will be aimed at making the robot fully submersible
including buoyancy tanks.
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