Bio-Inspired Omnidirectional Multilink Propulsion Mechanism in Fluid

Since most organisms are fairly autonomic, functional and efficient, the study of machines modeled on the movements of organisms has become significant in the engineering field. From this point of view, we observed organisms that swim in water by bending motions and noticed that the direction in which polychaetes swim differs from that of nematodes. This is explained by fleshy protrusions, called parapodia, that increase the worm's tangential drag component during its movement in water. In this study, we have developed a bio-inspired omnidirectional in fluid propulsion mechanism that changes the angle of these protrusions.