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ISSN:2164-6457 (print)
ISSN:2164-6473 (online)
Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain

Email: miguel.sanjuan@urjc.es

Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email: aluo@siue.edu

Implementation of Steering Process For Labriform Swimming Robot Based on Differential Drive Principle

Journal of Applied Nonlinear Dynamics 10(4) (2021) 721--737 | DOI:10.5890/JAND.2021.12.011

Farah Abbas Naser , Mofeed Turky Rashid

Electrical Engineering Department, University of Basrah, Basrah, Iraq

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Abstract

The aim of this study is to develop a swimming robot with good steering performance, in which the steering behavior is achieved by one degree of freedom (1-DOF) represented by a two concave-shaped pectoral fins. The steering mechanism adopted here based on differential drive principle. This principle is carried out by varying the right/left fins velocities. Different radii have been achieved with four different cases of velocities. The proposed design has been validated theoretically via Solidworks{\textregistered} platform and proved practically in a physical swimming pool. A minimum turning radius achieved is 0.40 of body length (BL).

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