1508 自立型固体高分子燃料電池とキャパシタからなるハイブリッド電力供給システムの魚ロボットへの適用(GS-15 移動ロボット(2),研究発表講演)

概要

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In order to imitate high-efficiency propulsion by a fish tail under water, the authors made a fish robot, which was assembled from a flexible rubber-sheet body (with a tail) and muscle-like six actuators each of which was composed of a small DC motor and a thin piece of flexible string, Electric power was fed to each motor intermittently in a programmed sequence by a hybrid power-supply system composed of a hydrogen-fueled passive-type polymer electrolyte fuel cell, capacitors and a PWM controller. It has been shown that the fish robot can swim like a fish under water when the actuators are operated in an appropriate sequence. It has been found that the capacitors in this power-supply system are requisite for the actuators, because the load on them varies largely when the fish robot swings its body and tail strongly under water.
社団法人日本機械学会の論文
2005-03-18