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Vanderwegen_74511100_2017.pdf
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- The master thesis "Swimming eel-like robot" implement an anguilliform robot in order to obtain experimental results allowing it to criticise simulations realised in the framework of a doctorate at the "Université Catholique de Louvain". The main stages of the project are conception, dimensioning, control of the robot and cinematic and dynamic analysis of its swimming. Design phase is based on two restrictive criteria. The first one is the respect for the "design" used by theoretical simulations. It's a robot made up of elliptical bodies articulated by a transmission system located outside the water. The second one is the ease of use of the system. Indeed, this work serves as a basis for future research, so it must be kept in mind that several various tests will be done without reviewing the whole design. The dimensioning phase is specific based on the Archimedes thrust and the positioning of the hull center to predict the buoyancy and stability of our system. Concerning the dimensioning of the torque required for the transmission system, this was calculated analytically by considering a theoretical case of a single elliptical body embedded. The selected motor is a Dynamixel AX-12A controlled in position using an Arduino Micro processor. The robot control is based on an anguilliform control law whose variation of tail amplitude depends on the position of motors on the robot. Conclusively, the experimental results obtained concerning the position and the couple were compared with the theoretical results. Following this analysis, the robot's anguilliform swimming was validated.