| contributor author | Li, Jiaji | |
| contributor author | McCarthy, J. Michael | |
| date accessioned | 2025-08-20T09:18:20Z | |
| date available | 2025-08-20T09:18:20Z | |
| date copyright | 5/23/2025 12:00:00 AM | |
| date issued | 2025 | |
| identifier issn | 2997-9765 | |
| identifier other | altr-25-1007.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4308062 | |
| description abstract | This article presents a robotic marine surface vehicle (MSV) driven by two sets of three oars, one set on each side of the vehicle. Each oar is mounted on a spherical four-bar drive mechanism that guides the oar blade through a rowing movement with the blade perpendicular to the water surface for the power stroke and parallel to the surface for the recovery stroke. The input cranks of the two sets of spherical linkages are connected by bevel gearing to two drive shafts. Two motor actuators power these drive shafts and control the speed and direction of the vehicle. Measurements of power and speed during water tests show that the cost of transport for this 4.2 kg MSV is approximately that of a swimming duck. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Multi-Oar Robotic Marine Surface Vehicle With Spherical Four-Bar Drive Mechanism | |
| type | Journal Paper | |
| journal volume | 1 | |
| journal issue | 2 | |
| journal title | ASME Letters in Translational Robotics | |
| identifier doi | 10.1115/1.4068576 | |
| journal fristpage | 21001-1 | |
| journal lastpage | 21001-8 | |
| page | 8 | |
| tree | ASME Letters in Translational Robotics:;2025:;volume( 001 ):;issue: 002 | |
| contenttype | Fulltext | |