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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 49604 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Abbaspour, Madjid
- Abstract:
- Nowadays, underwater vehicles designed by getting inspiration from aquatic animals’ motions have considerable merits; therefore, the issue of designing and building such vehicles has great significance. One of the aquatic animals, which can be a source of inspiration for designing vehicles with optimized propulsion and maneuver ability, is turtle. In order to design a robot under the inspiration of turtle locomotion, at first, it requires analyzing its locomotion carefully. In this project, it has been tried to do so. Having examined the motions of turtles and other aquatic animals thoroughly, the basics of their motions are achieved. Next, the locomotion of both sea and pond turtle are analyzed. By applying image processing procedures on a live pond turtle, equations of motions and dynamic behavior are extracted. Then, the propulsion force is estimated by an analytical-experimental process. In the next part, sea turtle locomotion and motion parameters and factors are carefully examined. It is worth mentioning that in this level, equations of motions of a sea turtle are also extracted by image processing algorithms. Finally, the pitch and heave pitch motions of the sea turtle fin is achieved by a numerical stimulation.last
- Keywords:
- Hydrodynamics ; Image Processing ; Flapping Mechanism ; Sea Turtle ; Fresh Water Turtle ; Flapping Fin ; Paddling
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