ペンギン模倣遊泳ロボットに用いる水没型ギヤードサーボモータの研究

抄録

In this study, a submersible geared servomotor was developed to realize a penguin-mimetic underwater flapping-wing robot. The mechanism was composed of a commercial brushless servomotor and a lab-made plastic planetary reducer. The required rotational speed and torque were determined based on the previous data of actual wing kinematics of swimming penguins and hydrodynamic calculation of the lift and drag for the wings and body. The fabricated mechanism was 66 mm in diameter and 53 mm in length, weighing 0.35 kg. Underwater experiments demonstrated that the output power of the mechanism was 107.4 W with 160-rpm rotational speed and 6.41-Nm torque. The positional accuracy was as large as 2.7 degrees, with simple proportional control only.