| 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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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2016: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2015: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
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| Keywords | ソフトメカニクス / 水中ロボット / フレキシブルアーム / ロボットパッキング / フレキシブルメカニクス |
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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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