Maneuvering of a robotic pike

Author(s)
Kumph, John Muir
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Alternative title
Maneuvering of Robopike
Other Contributors
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Advisor
Michael Triantafyllou.
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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).
 
Date issued
2000
URI
http://hdl.handle.net/1721.1/8968
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering; Massachusetts Institute of Technology. Department of Ocean Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Ocean Engineering., Mechanical Engineering.
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