3A1-X02 振動翼推進型魚ロボットの開発 : 小離鰭と超音波センサを搭載したTDUNA5-2013bの開発(バイオミメティクス・バイオメカトロニクス)

Abstract

We have developed oscillation wing propulsion type fish robots called TDUNA5-2013 which were modeled tuna. This robot was powered by a 2.6kW DC Brushless motor and made swinging oscillated motion of caudal fin by a Scotch-yoke mechanism through planetary reduction gears. The caudal fin is rigid body with high aspect ratio and it has loosen ligaments to generate angles for the thrust force. The outer jacket is made of ABS resin using FDM type 3D printer and it is separated into three parts, a head, a body and a tail. The head is oscillated to the same phase of the tail oscillation by the reduced angle. This motion is generated by the movement of the pivot shaft of the tail oscillation. The total length is about 1750 mm. The experimental results of our previous study, however, showed that the water-proofing method of the outer jacket, oscillation mechanism, and the electrical parts are imperfect and we had to change the water-proofing method. In this paper, we modified the construction of the case of the oscillation mechanism. We also investigated the water-proofing method of the midair construction ABS block made by 3D printer. By using this water-proofing method, we newly reconstructed the three outer jacket parts. In our new jacket parts, we can install five supersonic sensors in the head, and finlets in the tail. We call our robot in this configuration as TDUNA5-2013b. In the first trial of the swimming experiments, however, the oscillation mechanism and its case was broken due to the insufficiency of fixation between the mechanism and the case. We are now repairing them and the experimental results of TDUNA5-2013b will be presented at the conference.