水中ロボットアームの流体抗力低減に関する研究 : 流れの影響

概要

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For controling aqua robot manipulator working in water, we must consider the influence of fluid force on its motion control. Particulary, fluid flow seems to have a strong influence upon the motion of an aqua-robot manipulator when it undertakes a highspeed, precise motion. To reduce the fluid force influence on the motion of aqua-robot is quite useful for not implenting large capacity actuators into the aqua-robot manipulator. Thus we made experiments for investigating the condition of reducing fluid force acting on an aqua-robot manipulator's arm under the fluid flow. By changing fluid flow velocity, air bubble ejecting patterns and ejecting pressures from the surface of the manipulator's arm, we measured the fluid moment acting on the arm, and as a result, it was found that there exists a specific condition of air-bubble ejection for reducing the fluid influence even under the existence of fluid flow. Fine air-bubble ejection from the arm's surface has achieved about 40% reduction of the fluid force influence compared to no-air ejection.
一般社団法人日本機械学会の論文
1993-02-25