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naro-tartaruga
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The second robot of the naro project continues the concept of fin
propulsion. The natural counterpart of this robot is the sea-turtle. Also a
highly endangered animal! But the reasons to choose the turtle as model lie
in the rigid body which is technically much simpler to realize than a agile
body of a fish. The big torso also provides enough space for sensors and
batteries which are essential for autonomy. |
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naro - tartaruga shall provide first direct measurements on energy
consumption for a flapping fin mechanism in robotics. A speciality hereby is
the fully 3D mechanism. All actuators, three for each fin, are in the same,
waterproof body but they all still actuate the fin axle independently.
Common systems use serial actuation principles where one motor drives a box
with another motor which again drives the fin. This concept requires
multiple sealed bodies and cables going from one to another which raises the
energy consumption and risk of leakage. |
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Another purpose of naro - tartaruga will be the development of autonomous
navigation under water. The robot will be a platform allowing the use of
different sensors for various tasks. Symmetric and clearly defined
mechanical interfaces at the head and tail allow the exchange of modules for
future research on underwater autonomy. |
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Specifications
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Features (concept)
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Contact:
naroproject@ethz.ch |
