| 摘要 |
PROBLEM TO BE SOLVED: To provide an underwater cruising device having a steering device capable of finely controlling the position and attitude in hovering and turning. SOLUTION: A breast fin 1 is fitted at the center of a gimbal mechanism 10. The gimbal mechanism 10 comprises three rings 11, 12, 13, a first rotary shaft 16, and a second rotary shaft 17 perpendicular to it. A servomotor 4 gives the lead/lag motion reciprocating in the longitudinal direction and turning around the first rotary shaft 16 to the breast fin 1. A servomotor 2 gives the flapping motion reciprocating in the vertical direction and turning around the second rotary shaft 17 to the breast fin 1. A servomotor 3 gives the feathering motion reciprocating and rotating around the axis perpendicular to the first rotary shaft 16 and the second rotary shaft 17 to the breast fin 1. The shift and attitude of this underwater cruising device are controlled by concurrently adjusting the phase difference between the lead/lag motion and the feathering motion and the phase difference between the lead/lag motion and the flapping motion.
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