This thesis deals with the design, fabrication and analysis of a novel actuator for a fish-like swimming mini robot. The developed actuator is tested on a mini boat. The
actuator relies on a novel piezoelectric ultrasonic motor, developed according to the design requirements of actuator for fish-like swimming mini robots. Developed motor is within the dimensions of 25x6x6 mm in a simple mechanical structure with simple driving circuitry compared to its predecessor. Bidirectional rotation of the motor is transformed to a flapping tail motion for underwater locomotion in a simple mechatronic structure. The simplicity in the motor and actuator enables
further development on the miniaturization, improvement on the performances as well as easy and low cost manufacturing. The developed actuator is a candidate to
be used in mini swimming robot with fish- like locomotion.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12605682/index.pdf |
| Date | 01 December 2004 |
| Creators | Tuncdemir, Safakcan |
| Contributors | Erden, Abdulkadir |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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