263 自励駆動 2 関節イルカ形水中推進機構の研究

• 大岸 範史

  東工大院

• 中島 求

  東工大

• 小野 京右

  東工大

書誌事項

タイトル別名

• A Study on Locomotive Mechanism of Tow Joint Dolphinlike Robot Utilizing Self-Excited Vibration

抄録

In this paper, we describe a numerical study of a two-joint dolphinlike propulsion mechanism utilizing self-excited vibration, which is composed of a streamlined body and a rectangular caudal fin. To confirm the availability of this mechanism, we investigated the propulsive efficiency, the robustness of the thrust and the propulsive speed. It is made clear that relationship between feedback gain A, second spring coefficient k_2 and limit angle θ_<lim> and propulsive efficiency and speed. It is also found that this mechanism has robustness for disturbance.

収録刊行物

• Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D

  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2000 (0), 113-, 2000-09-01

  一般社団法人日本機械学会

キーワード

• Self-Excited Vibration
• Propulsive Efficiency
• Propulsive Speed
• Robustness
• Fluid Dynamics

詳細情報

• CRID: 1573105977004216832
• NII論文ID: 110002482477
• NII書誌ID: AA11901770
• ISSN: 13480235
• 本文言語コード: ja
• データソース種別:
  • CiNii Articles