Development of a Fish-Like Robot with a Continuous and High Frequency Snap-Through Buckling Mechanism Using a Triangular Cam
| Autor: | Yuichiro Sueoka, Shotaro Matsumura, Daisuke Nakanishi, Shoya Kobayashi, Kiichi Obara |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Computer science 02 engineering and technology 021001 nanoscience & nanotechnology Snap through Mechanism (engineering) 020901 industrial engineering & automation Buckling Control theory Underwater robot Fish Robot Electrical and Electronic Engineering 0210 nano-technology human activities |
| Zdroj: | Journal of Robotics and Mechatronics. 33:400-409 |
| ISSN: | 1883-8049 0915-3942 |
| DOI: | 10.20965/jrm.2021.p0400 |
| Popis: | This study focuses on the high maneuverability of fish in water to design a fish-like robot via snap-through buckling. The aim of this study is to improve swimming speed by increasing the frequency at which snap-through buckling occurs. Here, we propose a novel drive mechanism using a triangular cam that can continuously generate snap-through buckling at a high frequency. In addition, we developed a fish-like robot via the proposed mechanism and analyzed the influence of the frequency of snap-through buckling on swimming speed. The results obtained indicate that swimming speed is improved and that the relationship between frequency and swimming speed exhibits a single peak. In other words, the swimming speed is reduced when the frequency is significantly increased. We also determined that swimming speed was improved using a wide elastic thin plate as the driving mechanism. |
| Databáze: | OpenAIRE |
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