2016 Fiscal Year Final Research Report
Dynamics of Underwater Robot with Flexible Body Moving Under High-pressurized Environment
| Project/Area Number |
15K18011
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Kindai University |
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Principal Investigator |
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| Project Period (FY) |
2015-04-01 – 2017-03-31
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| Keywords | ソフトメカニクス / 水中ロボット |
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| Outline of Final Research Achievements |
This research verified the motion characteristics of a fish-like robot encapsulated by a flexible plastic film under high-pressurized environment. To verify the motion of the fish-like robot, the position of transition of an actuator and a fin were measured using a camera centered onto the transparent case. Additionally, we modeled geometrically the fin motion under assumptions that the film enables to be inflected but not to be extended during the motion. In this model, we also assumed that the film did not slip with the components including the fin during the motion. Based on the model and several experiments, we confirmed that an appropriate volume of the insulating fluid was needed to move the fin.
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| Free Research Field |
ロボティクス
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