A Study on the Propulsive Mechanism of a Double Jointed Fish Robot Utilizing Self-Excitation Control(<Special Issue>Advances in Motion and Vibration Control Technology)

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This paper describes a numerical and experimental study of a double jointed fish robot utilizing self-excitation control. The fish robot is composed of a streamlined body and a rectangular caudal fin. The body length is 280 mm and it has a DC motor to actuate its first joint and a potentiometer to detect the angle of its second joint. The signal from the potentiometer is fed back into the DC motor, so that the system can be self-excited. In order to obtain a stable oscillation and a resultant stable propulsion, a torque limiter circuit is employed. From the experiment, it has been found that the robot can stably propel using this control and the maximum propulsive speed is 0.42 m/s.
一般社団法人日本機械学会の論文
2003-09-15