気泡による水中ロボットマニプレータの流体力低減に関する研究

概要

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The motion of a robot manipulator submerged in water is affected by added mass, fluid drag force and flow-induced vibration. This paper, thus, deals with a technique for reducing these fluid influences on the manipulator's motion by ejecting air bubbles from the surface of the manipulator. Using a two-degree-of freedom and two-joint manipulator, experiments were carried out and the following major results were obtained: (1) the starting torque required for the manipulator's motion in the water is reduced to the magnitude for that in air by a certain bubble ejection pattern and ejection air pressure; (2) there existed a particular bubble ejection pattern and ejection pressure that were effective in reducing the drag force by 40%; (3) air bubble ejection from the surface increased the lift force acting on a link moving in the water; and (4) total fluid force composed by the lift and drag was, however, reduced by 40%, compared with that in the water, for a particular condition of air bubble ejection.
一般社団法人日本機械学会の論文
1988-07-25