Design and Experimental Verification of a Biologically Inspired Multi-Modal Wing for Aerial-Aquatic Robotic Vehicles

Richard J. Lock*, Ravi Vaidyanathan, Stuart C. Burgess

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

9 Citations (Scopus)

Abstract

This paper describes the modeling, design, experimental testing and optimization of a flapping foil for use as an aquatic propulsive device on a robot capable of aerial and aquatic modes of locomotion. Motivation for the research stems from numerous avian species which use the same flapping mechanism as a means of propulsion in both mediums. The main aim of this research is to establish the optimal kinematic parameters during aquatic operations that maximise non-dimensionalised performance measures, such as propulsive efficiency. Optimization of said parameters enables the direct comparison between outstretched and retracted wing morphologies and permits scaling for future robotic vehicles. Static foils representing the wing in both an extended and retracted orientation have been manufactured and tested over a range of kinematics. The gathered results enable validation of previously developed numerical models as well as quantifying achievable performance measures. This research focuses on the mechanical propulsive efficiencies and thrust coefficients as key performance measures whilst simultaneously considering the required mechanical input torques and the associated thrust produced.

Translated title of the contributionDesign and Experimental Verification of a Biologically Inspired Multi-Modal Wing for Aerial-Aquatic Robotic Vehicles
Original languageEnglish
Title of host publicationIEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), June 24-27, 2012 Roma, Italy
EditorsJP Desai, LPS Jay, L Zollo
Place of PublicationNEW YORK
PublisherIEEE Computer Society
Pages681-687
Number of pages7
Publication statusPublished - 2012
Event4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics - Rome, Italy
Duration: 24 Jun 201227 Jun 2012

Publication series

NameProceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE
ISSN (Print)2155-1782

Conference

Conference4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob) / Symposium on Surgical Robotics
CountryItaly
Period24/06/1227/06/12

Bibliographical note

Conference Organiser: IEEE

Keywords

  • MODEL
  • FORCES
  • SPEEDS

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