2P1-A25 水中ロボット用柔軟機能性胸鰭アクチュエータの開発 : 第3報:アクティブフィンのアナログ駆動とFEMによる形状解析

概要

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Underwater creatures have high power of swimming and ability of stopping at the same position. Their moving ability plays an important part in the development of underwater robots for the seabed exploration. This research aims at the realization of the fish's pectoral fins for new locomotion ability of underwater robots and develops the fin actuators that are flexible and functional themselves. Last report presented analog driving by analog valves for active fin. This report presents the realization of active fin driving by PWM controlled digital valves that can be installed in underwater robot. And we analyze the fin shapes using FEM dealing with large deformation / contact problems.
一般社団法人日本機械学会の論文