Bio-normative in-fluid propulsion mechanism using coordinated motion of lattice array linear soft actuators

2023 Fiscal Year Final Research Report

• Project/Area Number: 19K04288
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Review Section: Basic Section 20020:Robotics and intelligent system-related
• Research Institution: Utsunomiya University
• Principal Investigator: Nakabayashi Masataka 宇都宮大学, 工学部, 助教 (50638799)
• Co-Investigator(Kenkyū-buntansha): 嶋脇 聡 宇都宮大学, 工学部, 教授 (10344904)
• Project Period (FY): 2019-04-01 – 2024-03-31
• Keywords: バイオミメティクス / バイオメカニクス / ソフトロボット / SMA / 人工筋肉 / 流体内推進機構

Outline of Final Research Achievements

The purpose of this research project was to develop a basic motion mechanism based on the pellicular complexes structure of Euglena to realize high-DOF deformation performance using linear soft actuators and to develop an in-fluid propulsion mechanism for swimming in an arbitrary swimming form. We have developed a prototype actuator to realize this mechanism, and developed a manufacturing technology for a shape memory alloy actuator (SMAA) with high power and high displacement to reduce the yield. A prototype structure for high-DOF deformation was also studied, and an elastic deformation mechanism and its control system using a porous sheet and a lattice array of SMAA were developed as a basic technology. As a result, it is believed that a general-purpose in-fluid propulsion mechanism that can be deformed into arbitrary shapes can be realized by further extending this research.

Free Research Field

バイオミメティクス/メカニクス，医用システム，福祉工学，リハビリテーション，流体力学

Academic Significance and Societal Importance of the Research Achievements

学術的意義：高効率・安全性の観点から生物規範的な流体内推進機構が研究開発されてきたが，その多くの研究は各環境下の生物模倣といった合目的的な設計であった．本研究は，それらの研究とは全く別に，高自由度の変形機構を実現することで任意の遊泳形態を実現する汎用型流体内推進機構を開発しようとするものであり，その基礎技術は学術的にも新たな知見と意義をもつ．
社会的意義：汎用流体内推進機構のための基礎技術が確立されたことは，新たな機械要素開発のための知見にもなり得る．また高発生力・高変位のSMAAの歩留まりを押さえ安定した製造方法が確立については，今後のロボット開発における重要な技術を提供できたとも考えられる．