Design of rudder for maximize turning force of a ducted-type underwater robot

摘要

Ducted-type underwater robot that we developed has streamlined outer shape with duct inside, so that it can have low fluid resistance and because of short body length, it has highly good motion performance like short turning radius. Ducted type underwater robot that we developed had made as concept with rudder inside the duct. But for enlarge the turning force, it must have larger space and our robot has no margin for that. For this situation, we re-designed as the rudder on the outside of the duct. On this design, rudder can be affected from outside flow of body of robot and also there are some differences between combinations of steering angles. Therefore, in this paper we studied about the combinations of angles of rudders that have optimal steering angle when the robot only has inside flow of duct.