MECHANICS

Investigation of the motion of an aquatic robot with an internal fast-speed rotor and a nondeformable tail fin

A. V. Klekovkin, A. A. Chernova, Yu. L. Karavaev, A. V. Nazarov

Kalashnikov Izhevsk State Technical University, ul. Studencheskaya, 7, Izhevsk, 426069, Russia

Abstract: This paper reports on the simulation of the motion of an aquatic robot with an internal spinning rotor. We develop two mathematical models of robot motion in a fluid: the model of motion based on the Kirchhoff equations for the motion of a rigid body in a fluid and a model based on the Navier–Stokes equations. In addition to the simulation, we develop a prototype of the aquatic robot with a spinning rotor, with which we conduct real experiments. In this paper, we present the results of real experiments and simulations and draw conclusions based on them.

Keywords: aquatic robot, numerical simulation, finite-dimensional model, experimental investigations

UDC: 531.36, 532.54, 517.95

MSC: 70E60, 37N10, 76D05

Received: 26.09.2025
Accepted: 29.11.2025

Language: English

DOI: 10.35634/vm250407

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