Maneuvering of a robotic pike
Name
47045662-MIT.pdf
Description
Full printable version
Size
6.11 MB
Format
Adobe PDF
Checksum (MD5)
6d1277bde154190b01f39379cc7623a7
Author(s)
Kumph, John Muir
Advisor(s)
Michael Triantafyllou.
Alternative Title
Maneuvering of Robopike
Date Issued
2000
Publisher
Massachusetts Institute of Technology
Abstract
A robotic mechanism is described, called Robopike. The robot has fork length equal to 82cm, and contains 5 motors, a computer and a wireless modem for communication during testing. Details of the construction and testing methods are provided. The testing covered only a small part of the extensive parametric range, and resulted in speeds up to 0.11 body lengths per second and turns of 350 in two seconds. The kinematics of the robot are quantified and analyzed. A non-dimensional number, the Maneuvering Strouhal Number (Stm) is defined based on observations from live fish and previous theoretical developments. Recommendations for further improvements in the maneuvering performance of flexible hull vehicles are derived based on the Maneuvering Strouhal Number (Stm).
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Ocean Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2000.
Includes bibliographical references (p. 75-76).
Subjects
Ocean Engineering.
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Massachusetts Institute of Technology. Department of Ocean Engineering
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
Persistent DSpace Link
