A Multi-Oar Robotic Marine Surface Vehicle With Spherical Four-Bar Drive Mechanism

Abstract This article presents a robotic marine surface vehicle (MSV) driven by two sets of three oars, one set on each side of the vehicle. Each oar is mounted on a spherical four-bar drive mechanism that guides the oar blade through a rowing movement with the blade perpendicular to the water surface for the power stroke and parallel to the surface for the recovery stroke. The input cranks of the two sets of spherical linkages are connected by bevel gearing to two drive shafts. Two motor actuators power these drive shafts and control the speed and direction of the vehicle. Measurements of power and speed during water tests show that the cost of transport for this 4.2 kg MSV is approximately that of a swimming duck.