Thrust analysis of propulsion mechanisms with pectoral fins in a Manta robot

Tomoya Watanabe, Keigo Watanabe, Isaku Nagai

Research output: Contribution to journalConference articlepeer-review


The development of autonomous underwater robots is required for the ecological survey of aquatic life. Conventional underwater robots have a common mechanism for propulsion with screw propellers. Noises generated by screw propellers have a possibility of giving a bad effect on the biological behavior. Robots mimicking fish propulsion mechanisms are less likely to seriously affect living things. In our laboratory, a Manta robot that has a propulsion mechanism with pectoral fins has been developed. The operation range of the conventional Manta robot was limited by a cable for remote control. It needs an autonomous navigation system based on localization not so as to be restricted by cables. Constructing the model that takes into consideration the thrust of propulsion mechanisms with pectoral fins is expected to be used for localization. In this paper, we analyze the thrust of propulsion mechanisms with pectoral fins, using a Wei's model. In addition, we compare the analysis results with ones obtained by an actual Manta robot, and verify whether the analysis is correct.

Original languageEnglish
Article number012046
JournalIOP Conference Series: Materials Science and Engineering
Issue number1
Publication statusPublished - Oct 25 2019
Event5th International Symposium on Material, Mechatronics and Energy 2018, ISMME 2018 - Gowa, South Sulawesi, Indonesia
Duration: Nov 6 2018Nov 8 2018

ASJC Scopus subject areas

  • Materials Science(all)
  • Engineering(all)


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