クラゲ型泳動跳躍軟体マイクロロボットの研究

概要

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This paper proposes the soft structural microrobot which acts at narrow place in the fluid. The robot is operated on swimming, hopping and jumping. The body is made of NB and silicone rubbers. The actuator is a current driving type coiled shape memory alloy (SMA). The SMA expands and contracts by on-off current control for realization of the large and quick motion. The body is 30mm cube and 19mN weight. We obtained the swimming velocity 71.6mm/s, 2.25 times of the natural law and the height of jump 35mm, 1.2 times of the body length. The principle of swimming was realized not only fan motion of the bell but also jet propulsion. in quickly repetitive motion. Coefficients of resistance were determined for system identification of the theoretical model by convergent computation. The values take about 2 over the wide range of the duration of power stroke near driving condition of the maximum swimming velocity or hopping height, respectively.
社団法人精密工学会の論文
2006-02-05