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Investigation of the hydrodynamic performance of crablike robot swimming leg

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Abstract

The existing amphibious robots cannot usually enjoy a superior adaptability in the underwater environment by replacing the actuators. Based on the bionic prototype of the Portunus trituberculatus, a new leg-paddle coupling crablike robot with a composite propulsion of walking legs and swimming legs is developed, with both the abilities of walking and swimming under water. By simulation and experiment, the effects of the phase difference, the flap** amplitude and the angular bias of the coupling movement, as well as the Strouhal number on the hydrodynamic performance of the swimming legs are studied, and the time dependent tail vortex shedding structure in a cycle is obtained. Both experimental and numerical results indicate that the thrust force with a high propulsion efficiency can be generated by a flap** swimming leg. This work can further be used for analysis of the stability and the maneuverability of the swimming leg actuated underwater vehicles.

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Authors and Affiliations

  1. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Li-quan Wang  (王立权), Hai-long Wang  (王海龙), Asker Khan & Li-xing **  (靳励行)

  2. State Key Laboratory of Autonomous Underwater Vehicle, Harbin Engineering University, Harbin, 150001, China

    Gang Wang  (王刚)

  3. College of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, Harbin, 150001, China

    ** Chen  (陈曦)

Authors
  1. Li-quan Wang  (王立权)
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  2. Hai-long Wang  (王海龙)
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  3. Gang Wang  (王刚)
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  4. ** Chen  (陈曦)
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  5. Asker Khan
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  6. Li-xing **  (靳励行)
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Corresponding author

Correspondence to Hai-long Wang  (王海龙).

Additional information

Project supported by the National Natural Science Foundation of China (Grant Nos. 51409058, 60875067), the Natural Science Foundation of Heilongjiang Province (Grant No. F201205).

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Wang, Lq., Wang, Hl., Wang, G. et al. Investigation of the hydrodynamic performance of crablike robot swimming leg. J Hydrodyn 30, 605–617 (2018). https://doi.org/10.1007/s42241-018-0059-9

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  • DOI: https://doi.org/10.1007/s42241-018-0059-9

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