ワイヤ駆動連続体を噴射管にもつ小型遊泳機構

抄録

In this research, we propose a propulsion mechanism of a swimming quick capable of rapid turning. In this swimming mechanism of the underwater robot, the rod-shaped continuum waterjet pipe is oriented in all directions by wire driving, and therefore aims to achieve quick turning with a small turning radius. In the swimming robot using this swimming mechanism, the water flow generated by the waterjet injection tube passes through a hollow elastic rod deformable by wire driving and becomes a propulsive force. In this paper, we show the composition of the swimming mechanism with the waterjet pipe by pulling-wire drive, and the actual behavior of the mechanism under the operation.