2A2-D01 3次元形状を考慮した水中探査用マンタロボットの開発

• 御厨 康太

  岡山大

• 日笠 成基

  岡山大

• 浜野 友希豊

  岡山大

• 渡辺 桂吾

  岡山大

• 永井 伊作

  岡山大

書誌事項

タイトル別名

• 2A2-D01 Development of a Manta Robot for Underwater Exploration Considering the 3D Body Shape

抄録

Biomimetic robots are possible to investigate aquatic lives without affecting them. Our laboratory has developed a Manta robot that has propulsion mechanism with pectoral fins, which are constructed by mimicking the pectoral fin of the manta ray. However, the swimming speed of the conventional Manta robot does not reach to those of many aquatic lives. In this paper, the propulsion performance of the Manta robot is improved by adopting a 3D streamline shape, which has a less propulsion resistance as the body shape of the robot. In addition, letting the Manta robot be autonomous can overcome a problem that a power cable interrupts the motion of the Manta robot. The effectiveness of the proposed method is proved by several swimming experiments using the improved Manta robot.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2015 (0), _2A2-D01_1-_2A2-D01_4, 2015

  一般社団法人 日本機械学会

キーワード

• Manta robot
• Propulsion performance
• Propulsion mechanism with pectoral fins

詳細情報

• CRID: 1390282680917630848
• NII論文ID: 110010055364
• DOI: 10.1299/jsmermd.2015._2a2-d01_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2015/0/2015__2A2-D01_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可