| 摘要 |
A propulsion apparatus is provided for propulsion in a fluid, comprising at least one propulsion fin being fixed to a fin axle, and means for driving the propulsion fin comprising a crankshaft, a pitching mechanism for rotating the propulsion fin around the axis of the fin axle, and a heave mechanism for translating the propulsion fin in a substantially transverse direction with respect to the axis of the fin axle, and where the crankshaft is driving the pitching mechanism and the heave mechanism. A simple, reliable and efficient construction is obtained by having both the heave and the pitch mechanism mounted on a single crank on the crankshaft, or to separate cranks having substantially the same radius and angular position with respect to the axis of rotation of the crankshaft.
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