2A2-D08 弾性関節を用いたウナギ型水中推進ロボット(2号機)の開発 : 形状変化による推進性能評価(水中ロボット・メカトロニクス)

概要

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Previous developed Eel-like robot (prototype 1) has a big head which includes a control device and batteries. So prototype 1 robot meets a lot of resistance on fluid. We developed an Eel-like swimming robot (prototype 2) using elastic Joints with a smaller head. Prototype 2 robot has 8 control devices and 8 batteries which are distributed over its body evenly. Eel-like swimming robot has 8 servomotors for actuator joints and 7 phosphor bronze sheet for elastic joints. The control device drives a servomotor individually. The miniaturized head reduced fluid resistance and improved swimming speed of an Eel-like robot. Prototype 2 robot swims underwater completely and on the surface of the water.
一般社団法人日本機械学会の論文
2007-05-11