水中ロボットアームの流体付加トルクの低減の研究

抄録

The motion of a robot arm subrerged in water is affected by added mass, fluid drag force and flow-induced vibration. The study, thus, deals with a technique for reducing these fluid influences on arm motion by ejecting air bubbles from the surface of the arm. Experiments are carried out using a two-degree-of freedom and two-joint manipulator. By ejecting air bubbles, we show experimentally a reduction of added fluid torque by examining the effects of arm acceleration, air ejecting pressure, and pattern on torque reduction. The following major results are obtained:(1)added fluid force to the robot arm acceleration in water is reduced by a certain pattern of air bubble ejection and air ejecting pressure and the reduction reaches a maximum of about 45% and (2)the relationship of added fluid torque reduction with air ejection pattern, air ejecting pressure or arm acceralation is experimentally clarified.