Wheels and crawlers are most commonly used propulsion mechanism in mobile robots. However, they have some shortcomings such as cannot function after flipped over, cannot be easily sealed against water and dust. In this paper, a new propulsion mechanism named “Rotary Surface Wave Mechanism” is introduced. It can generate propulsive motion from the whole cylindrical surface with simple structure, and it can be entirely covered by bellows and becomes water-proof. Rotary Surface Wave Mechanism would have a wide range of application in the future such as inspection robots or rescue robots. A prototype of this mechanism was designed and the performance was evaluated by experiments.
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