A variety of mobile robots have been developed for operating in difficult environments. Most of
them are mounted with wheels or crawlers for locomotion. However, wheels and crawlers can not
be sealed against water or dust easily. Therefore, a new propulsion mechanism called “Surface
Wave Mechanism” was proposed. This mechanism generates small-scale wave motion for
propulsion, and it can be covered by a watertight coating and be made waterproof easily. Both a
planer model and a circular model were designed. The Circular Surface Wave Mechanism
possesses a novel structure which can generate propulsive motion on the whole cylindrical surface
using only a single motor. Experimental results proved the propulsion ability of the prototypes.
Some design factors were evaluated through simulations and experiments.
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