2A1-K02 閉ループ弾性体による瞬発力発生機構を用いた薄型キック遊泳ロボット(フレキシブルロボット・メカニズム)

概要

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In this paper, we propose a compact swimming robot powered by a new type of impulse force generator using closed elastica. One of the most distinguished features of the robot is to have capability to kicking water impulsively in spite of a compact body with low fluid resistance. The proposed robot is of 320[mm] in length and consists of a flat triangular body and an impulse force generator using closed elastica. The triangular body is of only 13[mm] in the maximum thickness and tapered for reducing its fluid resistance. The impulse force generator newly developed here, which is called 'spatially-deformable sharp type', is composed of a sharp elastic strip, two motors connected with an elastic bridge. When two motors rotate in the opposite direction respectively, the sharp part of the elastic strip passes thought its own closed loop and then a sharp elastic strip spatially deforms very rapidly due to snap-through buckling of the elastica. The proposed swimming robot can kick water strongly by fixing a fin to the sharp part of the elastica. We show an experimental result to illustrate that the swimming robot can swim 0.38[m] with one kick. We also mention possibility of realizing 2 [BL/s] (body length per second) swimming based on the robot.
一般社団法人日本機械学会の論文
2011-05-26