1P1-A21 ウナギ型水中推進ロボットの形状変化が遊泳に及ぼす影響

概要

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The propulsion method based on the aquatic life has many advantages as compared with the screw propeller. We have been developed Eel-like swimming robots of prototype 1 and prototype 2. The efficiency of swimming behavior depends on the shape of the robot in the water. In this paper we report the effect of changing the head shape, entire length of Eel-like swimming robot, and the number of the progressive wave. 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. In the case of swimming by serpentine movement like snakes and eels, furthermore, the swimming efficiency is affected by the shape of the cross section of the body. So we changed it into circular and rectangular cross section, and investigated the effect to the swimming form and the swimming speed. The number of the progressive wave has as big influence on the swimming performances as robot shape.
一般社団法人日本機械学会の論文
2009-05-25