Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold
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- Shibata Mizuho
- Kindai University
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説明
<p>This paper describes a fish-like robot with a deformable outer shell fabricated using a silicone mold. Based on the difference in the contact condition between the serial-link robot and the shell, the fabrication methods are classified into embedded type and skin type. This study analyzes the mechanical properties of embedded and skin-type underwater robots from the viewpoint of material mechanics. A low-torque motor can sufficiently drive the skin-type underwater robot if the friction coefficient and pressure between the skin and the link are appropriately selected. Furthermore, the outer skin of the fish-like robot can be easily fabricated by defoaming in the chamber of a vacuum-packaging machine. Finally, the performance of the skin-type robot in air and underwater was assessed through several experiments.</p>
収録刊行物
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- Journal of Robotics and Mechatronics
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Journal of Robotics and Mechatronics 34 (1), 40-46, 2022-02-20
富士技術出版株式会社
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詳細情報 詳細情報について
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- CRID
- 1390572633001405568
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- NII論文ID
- 130008161830
- 40022824474
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- NII書誌ID
- AA10809998
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- ISSN
- 18838049
- 09153942
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- NDL書誌ID
- 031982060
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可