Hydrodynamics of a Flexible Flipper for an Underwater Vehicle-Manipulator System

Motivated by the requirement for developing a lightweight and nimble underwater vehicle-manipulator system (UVMS), this article presents a novel design of the overall framework and the functional modules for a flippers-driven UVMS (F-UVMS), which is equipped with six biomimetic flipper propulsors to produce thrust. With taking into account the material properties and flexible deformation, the dyna...