2A2-D07 ウナギ型水中ロボットの推進挙動とシミュレーション(水中ロボット・メカトロニクス)

概要

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This report shows an eel-like robot having eight joint units which consist of actuator joint servomotors and phosphor bronze plate for the elastic joints. The total body length and mass are 860mm and 2.8kg respectively. The robot was contained a microcomputer and batteries within the head. In addition, a computer simulation is carried out an analytical model and dynamic equations to compare the experimental results. In the experiment and simulation, the eel-like robot turned steady for turning of radius 0.4m to 0.8m. Then, the velocity loss was superior at 45% compared with a general ship. In addition, the robot turn suddenly by stopping undulation at constant time and got turning angle about 90deg to 170deg. The time for which the robot needed to turn was superior to that of a general ship. The eel-like robot was able to brake by two methods in the experiment. Braking distances were 0.53m and 0.11m, respectively.
一般社団法人日本機械学会の論文
2007-05-11