P037

Dynamic Characteristics of a Biomimetic Underwater Vehicle

A0091 Forng-Chen Chiu Department of Naval Architecture and Ocean Engineering, National Taiwan University

A0092 Jenhwa Guo Department of Naval Architecture and Ocean Engineering, National Taiwan University

A0093 Ji-Gang Chen

A0094 Yen-Hwa Lin

Natural selection has ensured that the mechanical systems evolved in

fish are highly efficient. The highly efficient propulsion, greater

maneuverability and agility of fish-like swimming are currently

inspiring the novel designs of AUVs for achieving better performance

than that of existing systems.

In National Taiwan University, a Biomimetic Autonomous Underwater

Vehicle (BAUV) testbed composed of several links and joints is being

developed. For predicting its dynamic characteristics, we developed a

practical method to simulate the motions of a flexible slender body

and then applied this method to the BAUV testbed. Basing on the

results of a series of simulation calculation, the dynamic

characteristics of the BAUV testbed is shown and discussed in this

paper. And then the motion controller design for the BAUV testbed is

followed and presented in another paper.