Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold

• Shibata Mizuho

  Kindai University

Abstract

This paper describes a fish-like robot with a deformable outer shell fabricated using a silicone mold. Based on the difference in the contact condition between the serial-link robot and the shell, the fabrication methods are classified into embedded type and skin type. This study analyzes the mechanical properties of embedded and skin-type underwater robots from the viewpoint of material mechanics. A low-torque motor can sufficiently drive the skin-type underwater robot if the friction coefficient and pressure between the skin and the link are appropriately selected. Furthermore, the outer skin of the fish-like robot can be easily fabricated by defoaming in the chamber of a vacuum-packaging machine. Finally, the performance of the skin-type robot in air and underwater was assessed through several experiments.

Journal

• Journal of Robotics and Mechatronics

  Journal of Robotics and Mechatronics 34 (1), 40-46, 2022-02-20

  Fuji Technology Press Ltd.

Keywords

• fish-like robot
• deformable body
• silicone mold

Details

• CRID: 1390572633001405568
• NII Article ID: 130008161830
• NII Article ID: 40022824474
• NII Book ID: AA10809998
• DOI: 10.20965/jrm.2022.p0040
• ISSN: 18838049
• ISSN: 09153942
• NDL BIB ID: 031982060
• Web Site: http://id.ndl.go.jp/bib/031982060
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I031982060
• Web Site: https://www.fujipress.jp/main/wp-content/themes/Fujipress/hyosetsu.php?ppno=ROBOT003400010005
• Text Lang: en
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed