國立台灣大學造船及海洋工程學系邱逢琛2006-07-252018-06-282006-07-252018-06-282000http://ntur.lib.ntu.edu.tw//handle/246246/4004The main purpose of this research is to simulate the undulatory locomotion of a flexible body. When a flexible slender body which is divided into a number of segments undulates, the wave passes from the nose to the tail. Reaction forces due to momentum change, friction, as well as cross flow drag acting on each segment are taken into account. Equations of motion described by the body-fixed coordinate are obtained by taking the summation of the longitudinal force, lateral force and yaw moment acting on all the segments. Equations of motion are solved step by step in time axis and the velocity is transferred to space-fixed coordinate. The trajectory of the flexible body can be obtained by time integration of the transferred velocity. Results are obtained for the numerical model in which length, outline dimensions of each segment are similar to a test vehicle we are currently building. The validity and limitation of the simulation method are discussed.application/pdf110673 bytesapplication/pdfzh-TW國立臺灣大學工程科學及海洋工程學系暨研究所Undulatory locomotionFlexible slender bodyBiomimetic AUVreporthttp://ntur.lib.ntu.edu.tw/bitstream/246246/4004/1/892611E002018.pdf