A novel and efficient compact propulsion mechanism with high response speed for robotic applications

摘要

In this paper, we present a novel high efficiency and compact propulsion generating mechanism that can be used for robotic applications. The proposed mechanism intermeshes two variable pitch propellers. The propellers speeds are synced but their pitch is controlled individually. Two test units were built one with fixed pitch propellers and one with variable pitch propellers. Both test units were attached to a force measurement platform in order to determine the effectiveness of this mechanism. Several efficiency tests were done with the fixed pitch test unit and several thrust and torque tests were done with the variable pitch propeller test unit. After comparing and discussing the phenomena and test results, we conclude that this novel intermeshing mechanism is a high efficiency and compact design with high response speeds for robotics applications when propulsion is required.