鋳型による外殻製作を利用した魚型柔軟水中ロボット

抄録

In this manuscript, we propose a fish-like underwater robot composed of a silicone resin. By utilizing a silicon resin, we can fabricate a small, lightweight underwater robot. This manuscript especially describes a fabrication method of a fish-like robot using a mold casting. By defoaming in the chamber of a vacuum packaging machine, the outer shell of the fish-like robot can be easily fabricated. The internal mechanism which is composed of a microcontroller, a drive circuit, a battery, a servomotor, and a fin is encapsulated into the outer surface. The outer surface is sealed using additional silicone resin after assembling. We finally assess the performance of our prototype through several locomotion tests in air and underwater.