ヒラムシのひだの羽ばたき位相差を持つ羽ばたき機

抄録

This paper describes a swimming robot that imitates a flatworm. The model was made with a length of 20 cm, which is about twice the size of a flatworm. As for the folds, they were reproduced by flat wing waves that mimicked the flatworm using a single motor and a phase-shifting slider-crank mechanism. In this way, the phase speed of the folds can be freely changed by changing the phase difference of the crank. The performance of the fabricated robot was evaluated using a high-speed camera and tracking software. For the flapping amplitude, the ornithopter showed no significant errors other than misalignment of parts.