727 振動翼推進型魚ロボットの為の弾性鰭構造の研究 : 第2報:マグロ尾鰭の解剖調査と弛緩靱帯付剛体尾鰭の開発(J02-3 生物の機能/運動/機構/模倣(3),ジョイントセッション,21世紀地球環境革命の機械工学:人・マイクロナノ・エネルギー・環境)

概要

論文の詳細を見る
The authers have been developing oscillating fin propulsion type fish robots. The prototype of these robots is Tuna. In this study, a real tuna's caudal fin was dissected and the structure was investigated. The dissection results showed that the tuna's caudal fin can generate the phase angle to produce the thrust force automatically. This function is realized passively by one spinal joint with large movable area and loosen ligaments on the joint. Therefore the tuna's phase angle can be produced after cutting off from dead tuna. A dead tuna's caudal fin was connected to our robot fish's oscillating tail and the thrust force was measured. A rigid type caudal fin with loosen ligaments is proposed for the robot fish. The detail will be presented.
一般社団法人日本機械学会の論文
2008-08-02