抄録
We have developed oscillation wing propulsion type fish robots which was modeled the tuna. In this paper, a Scotch-York type driving mechanism of the caudal fin is used that is powered by the 2.6kW outrunner type sensorless brushless motor. In this report, a refined Scotch-York mechanism was newly made to solve the problem of the stable driving of the caudal fin. The parts of this new mechanism were drastically reinforced and the reduction ratio is 1/45. By using this mechanism, two 300mm span caudal fins were driven stably. The structures of our two special caudal fins, rigid fin with loosen ligament and concave curve self-generation fin, were also refined. We also introduced parallel link mechanism for the spine part to avoid the over-angle of the caudal fin. However, the experimental results showed that the swimming speed with parallel link spine was decreased comparing the rigid spine.
