W051001 水泳動作を行うロボットに作用する非定常流体力の計測とモデル化(【W05100】EFDワークショップ『流体力とせん断応力の計測』,流体工学部門企画,ワークショップ)

Abstract

The measurement and modeling of unsteady fluid forces acting on robots in swimming motions are introduced in this paper. Two robots were developed for this purpose. One is an underwater robot arm for the fluid forces acting on limbs and the other is a swimmer mannequin for those acting on body trunk. For both cases, the fluid forces were modeled and formulated as the sum of the drag forces and the inertial force due to the added mass of fluid. The fluid force coefficients in the fluid force model were determined so that the simulated force became consistent with the measured one as well as possible. The simulated forces were found to consistent with the measured ones sufficiently both for the underwater robot arm and the swimmer mannequin. In particular, it was found that the determined fluid force model could estimate the fluid forces for the various different swimming motions.