수중생물의 유영 분석과 유체 항력을 고려한 유영 패턴 최적화 시뮬레이션

Abstract

In this paper, the swimming method of underwater creatures was optimized by using GA algorithm to apply to the underwater robots. It has Kinematic formula designed by a few kinds of aquatic organisms swimming patterns and common characteristics of their legs. The fluid drag coefficient of the robot was estimated by the simulation, and the data from the simulation was applied to the optimized algorithm. Fluid resistance coefficient is fixed at both link1 and link2. The fluid resistance coefficient at link3 that depends on the angle becomes different. As a result of applying to the simulation for optimization by using the fluid drag coefficient, the driving force was greatest when the cross-sectional area of the link3 is the largest as we expected. Futhermore, we were able to see the fct that swimming pattern of the robot was similar to the underwater creatjurescteristics of their legs. The fluid drag coefficient of the robot was estimated by the simulation, and the data from the simulation was applied to the optimized algorithm. Fluid resistance coefficient is fixed at both link1 and link2. The fluid resistance coefficient at link3 that depends on the angle becomes different. As a result of applying to the simulation for optimization by using the fluid drag coefficient, the driving force was greatest when the cross-sectional area of the link3 is the largest as we expected. Futhermore, we were able to see the fct that swimming pattern of the robot was similar to the underwater creatjures