739 クロマグロの遊泳能力の解析とロボットへの応用(J02-5 生物の機能/運動/機構/模倣(5),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

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The swimming motion of Tuna type fishes has excellent ability for its speed and efficiency. This paper shows an analysis toward the swimming motion of Blue Fin Tuna with some experimental data. This analysis is based on the simple wing theory, because our primary target is not to know how it works but to decide how to actuate the robot fish. In the 1^<st> report, we assumed that the tale fin angle must be controlled according to the water inflowing angle. So, in this paper, an accurate model of real tuna tale fin is used for experiment to measure the lift and drag force while going forward into the water. By using these data, the relationship between needed actuating force for tale fin and created propulsive force by tale fin.
2008-08-02