進行波推進機構を有する円盤形水中ロボットの開発

抄録

The purpose of this research is to develop an underwater robot for underwater exploration. We proposed a disk-shaped underwater robot (Cakram) with a traveling wave propulsion mechanism. The Cakram composed of disk fin with 8 active fin strips and control box. The Cakram can generate the traveling wave when there is a phase difference between the fin strips at a same frequency. The fin push the water by the traveling wave. The reaction force received from the water is used as a driving force. The propulsion performance of the Cakram is evaluated for various parameters such as frequency, phase difference and number of passive fin strips. Characteristics of the robot velocity and fin trajectory is observed. The results indicated that maximum velocity is 0.11 m/s by suppressing the deflection of the fin.