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This research proposes a new propulsion mechanism called “Surface Wave Mechanism.” The concept behind the SurfaceWave Mechanism – generating waves for propulsion – features a large propulsion area, no exposed infinite rotating shaft, and water- and dustproof attributes. The Surface Wave Mechanism is introduced, and three prototypes are designed and evaluated. Specifically, the cylindrical model, Rotary Surface Wave Mechanism PL-I, possesses a novel structure that generates propulsion throughout the cylindrical body using a single actuator, as detailed in the mechanical design and experiment results presented.

Development of Surface Wave Mechanism: Proposition of the Concept and Experiment of Prototypes