The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel
Received 16 January 2023; accepted 10 February 2023; published 09 March 2023
2023, Vol. 19, no. 2, pp. 265-279
Author(s): Klekovkin A. V., Karavaev Y. L., Mamaev I. S.
This paper presents the design of an aquatic robot actuated by one internal rotor. The robot body has a cylindrical form with a base in the form of a symmetric airfoil with a sharp edge. For this object, equations of motion are presented in the form of Kirchhoff equations for rigid body motion in an ideal fluid, which are supplemented with viscous resistance terms. A prototype of the aquatic robot with an internal rotor is developed. Using this prototype, experimental investigations of motion in a fluid are carried out.
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