JRM Vol.35 No.6 pp. 1638-1644
doi: 10.20965/jrm.2023.p1638


Experimental Development of Fins for Underwater Robots

Bagus Yunanto*,** ORCID Icon and Naoyuki Takesue* ORCID Icon

*Tokyo Metropolitan University
6-6 Asahigaoka, Hino, Tokyo 191-0065, Japan

**Politeknik Negeri Semarang
Jl. Prof. H. Soedarto S.H., Tembalang, Semarang, Central Java 50275, Indonesia

July 24, 2023
September 19, 2023
December 20, 2023
underwater robot, caudal fin, fin shape, drag force, thrust

In recent years, underwater robotics has become very important because it can be applied to various fields such as underwater exploration, underwater inspection, marine industry, and environmental monitoring. Fin plays an essential role in the movement of underwater robots, providing operation, control, and efficient propulsion. This research aims to design and develop a unique robotic fin for underwater robots to improve their handling and propulsion efficiency. The goal is to improve the power density and propulsion efficiency of underwater survey robots. The study is based on a comprehensive analysis of experience and a performance evaluation. Five types of tail fin models were used in the study. The experimental results showed that the performance of the fin design can be compared with existing configurations under different conditions. The best design parameters will be determined by analyzing the experimental results. The results of this study will contribute to underwater robotics by providing a concept of the principles of fin design and its impact on the performance of robotics.

Experimental fin setup

Experimental fin setup

Cite this article as:
B. Yunanto and N. Takesue, “Experimental Development of Fins for Underwater Robots,” J. Robot. Mechatron., Vol.35 No.6, pp. 1638-1644, 2023.
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Last updated on Feb. 19, 2024