Study of Bioinspired Robots in Fluid Using Smart Elastic Structure

由于大多数生物都是相当自主的、功能性的和高效的，我们的目标是开发以下使用智能弹性结构的流体仿生机器人。类草履虫机器人：如果身体被许多纤毛覆盖，如草履虫，纤毛运动对推进有好处；身体能够原地旋转，并改变其方向，以推动自己在小空间。因此，我们开发了一种像草履虫一样的液体机器人，它的鳍模仿纤毛运动，在它的底部装有一个马达。我们使用ICPF（离子导电聚合物凝胶薄膜）作动器来实时改变鳍的表观刚度，以表示纤毛运动的有效行程和恢复行程。研究了基于纤毛同时性模型的鳍的控制和机器人的机动性。类鱼机器人：作为一种比螺旋螺旋桨推进效率更高、安全性更好的替代推进机构，人们提出了一种类似于鱼的尾鳍或胸鳍的弹性鳍的摆动推进。但鳍片的最佳弹性不是恒定的，它会随着运动任务和环境的变化而变化。然而，在运动过程中，不同弯曲刚度的翅片很难互换。因此，我们为仿鱼机器人制作了可变弯曲刚度鳍和可变有效长度弹簧。该鳍片可以实时改变其表观弯曲刚度。找出了获得更大推力和推力效率的最佳弹簧有效长度，确定了弹簧有效长度的动态变化对获得更大推力是有效的。利用PIV技术制作了流动可视化系统，并对流动的机理进行了探讨

Since most organisms are fairly autonomic, functional and efficient, we aimed to develop the following bioinspired robots in fluid using smart elastic structure.Paramecium like robot :Ciliary movement has an advantage for propulsion if the body is covered by many cilia such as in the case of a paramecium; the body is able to rotate in situ and change its direction to propel itself in small spaces. Thus, we have developed paramecium like robot in fluid with fins modeled on ciliary movement equipped with a motor on its base. We used the fin with ICPF (Ionic Conducting Polymer gel Film) actuator to change its apparent stiffness in a real-time for the representation of the effective stroke and recovery stroke of ciliary movement. We investigated the control of the fin which modeled on the metachronism of cillia, and maneuverability of the robot.Fish like robot :As an alternative propulsion mechanism with higher propulsion efficiency and better safety than the screw propeller, propulsion by oscillating an elastic fin resembling a caudal fin or pectoral fin of fish has been proposed. But the optimum elasticity of fin is not constant and changes according to the movement task and environment. However, it is very difficult to exchange fins of different bending stiffnesses while moving. Thus, we have made a variable bending stiffness fin with a variable effective length spring for the fish like robot. This fin can be changed its apparent bending stiffness in a real-time. We found the optimum effective length of the spring for obtaining greater thrust force and thrust efficiency, and confirmed that the dynamic change of effective length of the spring is effective to for obtaining greater thrust force. We have also made the flow visualization system using PIV, and discussed the flow around the mechanism