直接駆動方式に基づく魚型の生物模倣型水中ロボット

抄録

The purpose of this study is to develop a direct-drive underwater robot. By using the direct-drive principle, the robot's structure can be greatly simplified, and it is expected to achieve high energy density and performance. This paper reports preliminary results obtained through prototyping and characterization of an underwater robot. It is confirmed that the soft body of the robot fabricated in this research showed passive deformation due to the direct oscillation of a BLDC motor. Moreover, the robot generated a maximum thrust of 22.1 N and was able to swim at a speed of 1.26 m/s (2.8 BL/s).