2D Contractile Water Jet Thruster Characterization for Bio-inspired Underwater Robot Locomotion

This research was conducted to analyze the thrust performance generated from a two dimensional contractile water jet thruster (CWJT). The main aim of this research is to investigate the relation and reaction between the input parameters of the contractile water jet thruster. The major parameter of this study is the actuating force as the input and the thrust force as the output. In addition to these parameters, nozzle area and fluid velocity influence were also considered in the investigation. Two pneumatic cylinders were applied to actuate the contraction. Thrust force was measured by both experimentally and theoretically. Generally the increment of the contraction force increases the thrust force. However, generated thrust at different contraction force depends on the size of the nozzle.