形状記憶合金アクチュエータを用いた水中ゴミ捕集装置のためのクラゲ型ソフトロボットの試作

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  • Development of a jellyfish soft robot to collect rubbish floating in the water

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<p>Environmental contamination such as marine pollution has been regarded as an important problem recently. In this research, we focus on the flow of water generated by a predation of jellyfish and have developed a jellyfish soft robot that collects rubbish floating in the sea. A shape memory alloy (SMA) actuator was used for the jellyfish soft robot as the driving source. The SMA actuator was manufactured with SMA wire of 0.15 mm in diameter and silicone rubber. The SMA actuator was also attached to the cap of jellyfish soft robot. We tried two types of underwater experiment that first one is measurement of cap bending displacement and response time for performance evaluation and the other one flow visualization using fluorescent yellow paint. Experimental results showed that the water was flowed under the cap of jellyfish soft robot when its cap was closed and the water was flowed inside the cap of jellyfish soft robot when its cap was opened. In this paper, we report the rubbish collection method, the design and experiment of the jellyfish robot.</p>

収録刊行物

  • 年次大会

    年次大会 2020 (0), J11114-, 2020

    一般社団法人 日本機械学会

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