クラゲ型ロボットによる水中ゴミ捕集装置の開発

―SMAアクチュエータによるミズクラゲ型ロボットの試作 ―

抄録

This paper presents a jellyfish soft robot to collect rubbish such as micro plastics floating around in the water. We focused on the flow of water caused by a behavior of real moon jellyfish and proposed the jellyfish soft robot using shape memory alloy (SMA) actuators. The cap body of jellyfish soft robot is 218 mm in diameter and 142 mm in height. We put the SMA actuators on its cap body. The cap body was bent into a circle like a motion of real jellyfish when the SMA actuator was operated by applying electric current. To investigate the response time of the bending motion, we monitored the cap body of jellyfish soft robot using a high speed camera. When 3.2 A 16.2 V electric current for 2.0 seconds was applied, the bending displacement was approximately 35.3 mm at maximum.