Study of Driving Method on the Moving Body in Flow Passage Utilizing Traveling Wave based on Self-excited Driving Method
Study of Driving Method on the Moving Body in Flow Passage Utilizing Traveling Wave based on Self-excited Driving Method
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DOI：
10.7210/jrsj.33.642
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
A. Yamano;A. Shintani;Tomohiro Ito;C. Nakagawa
中科院分区：
文献类型：
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作者：
A. Yamano;A. Shintani;Tomohiro Ito;C. Nakagawa
研制了一种fl柔性fi-sh型机器人，用于形状记忆合金驱动的窄通道fl小艇，实现了运动物体的小型化和轻量化。然而，形状记忆合金执行器过热会导致相变饱和，从而导致fin振动幅度减小，从而导致推力减小。为了解决这一问题，本文提出了一种利用自激振荡器实现的新的驱动方法，称为自激驱动方法。此外，我们引入了驱动器之间的耦合，以获得与期望的相位差的同步，从而在运动物体上产生行波。实验结果表明，采用本文提出的驱动方法的运动体在fl流道中的推力性能比无控制时要高。
Authors develop a flexible fish-like robot for use in a flow in narrow passage actuated by shape memory alloy (SMA) actuators, which realizes the downsizing and lightening of the moving body. Overheating of an SMA actuator, how-ever, causes saturation of phase transition, and a consequent decrease in the fin vibration amplitude that leads to decrease of thrust force. This paper proposes a new driving method that utilizes a self-excited oscillator in order to solve this problem with simple implementation, which was named as the self-excited drive method. Moreover, we introduce coupling among actuators to obtain synchronization with a desired phase difference which generates traveling wave on the moving body. Experimental results showed that moving body with our proposed driving method realizes higher thrust performance in flow passage than that without control.