2A1-A19 振動翼推進型魚ロボットの開発 : 弛緩靱帯付剛体尾鰭の位相角について

概要

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The authors have developed oscillation wing propulsion type fish robots. In this paper, a Scotch-York type driving mechanism of the caudal fin is used that is powered by the 2.6kW outrunner type sensorless brushless motor. A self-moving type test bench for the oscilation driving unit was also developed to optimize the structures of the caudal fins. In this report, the caudal fin driving mechanism was refined to cope with the lack of strength after the increasing motor power caused by changing the battery from NiCd to the high output current lithium-polymer battery. By using this experimental system the effect of the phase restriction angle set by the loosen length of the rigid type caudal fin with rotating pivot and loosen ligament. The maximum speed was obtained at the phase restriction angle of 40 deg. After the experiment, it was found that the reduction ratio of the oscilation driving unit should be reduced.
一般社団法人日本機械学会の論文