MOTION CONTROL USING EXTERNAL MAGNETIC FIELD FOR BIOMIMIC UNDERWATER MICROROBOT
| Project/Area Number |
18560251
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kyushu Institute of Technology |
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Principal Investigator |
HONDA Takashi Kyushu Institute of Technology, GRADUATE SCHOOL OF ENGINEERING, ASSOCIATE PROFESSOR (70295004)
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| Project Period (FY) |
2006 – 2007
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| Project Status |
Completed (Fiscal Year 2007)
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| Budget Amount *help |
¥3,330,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥330,000)
Fiscal Year 2007: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2006: ¥1,900,000 (Direct Cost: ¥1,900,000)
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| Keywords | MICROROBOT / BIOMIMIC / MAGNETIC ACTUATOR / MAGNET / WIRELESS DRIVE / APPLIED MAGNETICS |
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| Research Abstract |
The aim of this study is to develop a method for 3-dimensional locomotion of an underwater microrobot including a magnet In this study, we constructed two kinds of microrobots ; one is a fish-type using an oscillating caudal fin and the other is a waterbeetle-type using a pair of paddles. They feature unique mechanical design based on a biomimetic concept and wireless operation by external magnetic fields. At first, we investigated their basic swimming characteristics in details and then explored their motion control methods by changing the waveforms of external magnetic fields. As a result, 3-dimensional locomotion could be successfully given to both robots. The conclusions obtained from this study are as follows :
1. Applying alternating magnetic field biased with a DC magnetic field, the turning motion could be controlled.
2.Due to a variable trim system in which a center of gravity was adjustable by a DC magnetic field, the robots could swim in the up-down direction. By separating the working conditions of the turning and up-down motions, both motions could be independently controlled and 3-demensional locomotion control was achieved.
3. A novel educational tool using these microrobots has been developed and evaluated in a science program.
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Report
(3 results)
Research Products
(57 results)
