書誌事項
- タイトル別名
-
- Study of Driving Method on the Moving Body in Flow Passage Utilizing Traveling Wave based on Self-excited Driving Method
- ジレイクドウホウ ニ モトズク シンコウハ ノ セイセイ オ リヨウ シタ リュウロ ナイ エイドウ スイシンタイ ノ クドウ ホウホウ ノ ケントウ
この論文をさがす
抄録
Authors develop a flexible fish-like robot for use in a flow in narrow passage actuated by shape memory alloy (SMA) actuators, which realizes the downsizing and lightening of the moving body. Overheating of an SMA actuator, however, causes saturation of phase {transition,} and a consequent decrease in the fin vibration amplitude that leads to decrease of thrust force. This paper proposes a new driving method that utilizes a self-excited oscillator in order to solve this problem with simple implementation, which was named as the self-excited drive method. Moreover, we introduce coupling among actuators to obtain synchronization with a desired phase difference which generates traveling wave on the moving body. Experimental results showed that moving body with our proposed driving method realizes higher thrust performance in flow passage than that without control.
収録刊行物
-
- 日本ロボット学会誌
-
日本ロボット学会誌 33 (8), 642-650, 2015
一般社団法人 日本ロボット学会
- Tweet
キーワード
詳細情報 詳細情報について
-
- CRID
- 1390282679704996096
-
- NII論文ID
- 130005108769
-
- NII書誌ID
- AN00141189
-
- ISSN
- 18847145
- 02891824
-
- NDL書誌ID
- 026812963
-
- 本文言語コード
- ja
-
- データソース種別
-
- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
-
- 抄録ライセンスフラグ
- 使用不可