1157 胸鰭運動装置付き水中ロボット"PLATYPUS"周りの流れの数値計算(J04-2 生物の運動機能/バイオミメティクスとバイオメカニクス/バイオロボティクスとバイオメカトロニクス(2),J04 生物の運動機能/バイオミメティクスとバイオメカニクス/バイオロボティクスとバイオメカトロニクス)

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This paper describes the unsteady flow around an underwater vehicle named "Platypus" with two pairs of mechanical pectoral fins. An unsteady, multiblock, overlapping grid Navier-Stokes equation solver was developed to solve this problem. The drag-based swimming mode, which consists of rowing, flapping, and feathering motions, was selected as the fin motion. An unsteady flow past "Platypus" in the uniform flow was computed and compared with the computational results of the mechanical pectoral fin device. The time-varied hydrodynamic forces were in agreement with the computational results of the mechanical pectoral fin device. The flow induced by the fore fins did not give any influence to the aft fins.
2005-09-18