| Budget Amount *help |
¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2015: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2014: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
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| Outline of Final Research Achievements |
To improve the thrust performance of aquatic bio-inspired propulsion mechanism modeled on the caudal fin of fish, the function to maintain the optimum rigidity of the fin with respect to its changing operation task of the mechanism was added and developed as the aquatic bio-inspired propulsive robot for disaster sites. To realize the function to maintain the optimum rigidity, we developed the fiber composite viscoelastic fin-filled with dilatant fluid. We confirmed that the function was effective by the examinations of the propulsion characteristics and the behavior of the fin. The fiber composite viscoelastic fin is suitable thruster for the robot in the aquatic environment of disaster sites regarding that the flexibility of the fin prevents the interference with debris.
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