Modeling and Design Methodology of an Efficient Underwater Propulsion System

P. Valdivia y Alvarado and K. Youcef-Toumi (USA)


Design, energy-efficiency, robustness, underwater vehicles, non-uniform beam forced vibrations.


This paper addresses the issues of energy efficiency in mechanisms for underwater locomotion and its accomplishment using a more robust class of mechanical structures. We present a design methodology for fabricating a continuous mechanical fish body such that its kinematic behavior matches parametric models of fish swimming with minimum energy cost. It is concluded that this new design has advantages over classic manipulator type designs. The limitations of this passive design are also discussed and possible solutions proposed.

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