Abstract
We have been developing pectoral fin actuators for artificial fish using rubber structure and FMA (Flexible Microactuator) to realize new propulsive mechanism instead of screw. Under this research project, we developed manta robots driven by FMAs which have two degrees of freedom. Cross section of these FMAs was analyzed by FEM dealing with large deformation / contact problems. And manta robot was analyzed and designed to realize adequate motion. Based on these analytical results, manta robot was developed by the CAD/CAM system of rapid prototyping, and experimented in underwater. From the result of underwater experiment, the manta robot generated 0.18[N] of maximum propulsive force and swam 0.13 [m/s] of maximum propulsive speed.
