Abstract

Bu makale robotik uygulamalar için su üzerinde titreşime dayalı hareket eden yenilikçi bir ilerleme mekanizması sunmaktadır. Robotların her biri su üzerinde batmadan durmalarını sağlayan düşük yoğunluklu dikey kanat profiline sahip iki ayaktan ve U şeklinde yay çeliğinden üretilmiş elastik bir çubuktan oluşur. Su üzerinde ilerlemek için U şekilli çubuğun ortasına yerleştirilen basit bir sarkaç ile sistem titreşime zorlanır. Kanat kesitine sahip dikey pozisyonlanmış ayaklar su içerisinde salınım yaptıkça ön ve arka yüzeyler arasında oluşan basınç farkı ile robot ileri yönde hareket eder. Çalışmada farklı titreşim frekanslarının ilerleme hızına ve yer değiştirme maliyetine etkisi deneyler ile incelenmiş ve sonuçlar yorumlanmıştır. Buna ek olarak ön modelin yer değiştirme maliyeti (CoT) literatürdeki bazı robotlar ve canlılarınki ile karşılaştırılmıştır.

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