| 摘要 |
<p>The body/caudal fin propulsion (BCF propulsion) and median/pectoral fin propulsion (MPF propulsion) of the prior art are limited in terms of operability and straightness and, due to the properties of submarines, have many restrictions in terms of payload. There have been problems associated with reducing the size and energy consumption of submarines even when both of the propulsion methods are equipped at the same time. The objective of the present invention is to provide a fish fin vector propeller having a simple structure designed to overcome such problems and suitable for use in small submarines. The fish fin vector propeller according to the present invention enables not only forward movement and turning, but also the diving, floating, pivoting, lateral movement, and backward movement of a submarine using just the one propeller of the tail fin alone which is configured to have two actuators. Also, by combining the operation modes, three-dimensional underwater movements such as turning-and-diving and a backward-and-lateral movement are enabled.</p> |
