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JRM Vol.26 No.3 pp. 349-357
doi: 10.20965/jrm.2014.p0349
(2014)

Paper:

Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage

Akio Yamano*, Atsuhiko Shintani**, Tomohiro Ito**,
and Chihiro Nakagawa**

*Graduate School of Engineering, Osaka Prefecture University

**Department of Mechanical Engineering, Osaka Prefecture University, 1-1 Gakuen-cho, Naka-ku, Sakai, Osaka 599-8531, Japan

Received:
November 29, 2013
Accepted:
April 14, 2014
Published:
June 20, 2014
Keywords:
self-excited vibration, smart material, vibration of moving body, narrow passage, coupled vibration
Abstract
Analytical model

A flexible fish-like biomimetic robot developed for use in narrow passage flows was downsized using shape memory alloy (SMA) actuators. We constructed a fluid-body-coupled model of the robot and considered undulatory swimming and the effect of nonlinear SMA characteristics. An experimental model was also constructed to confirm the analytical model’s feasibility. Shrinkage due to temperature depends on the temperature of the SMA actuator, in which overheating may decrease the fin-vibration amplitude. To avoid this problem, a new driving method was introduced that used a self-excited oscillator with an actuator. Simulation results showed that this method achieves constant thrust in the moving body.

Cite this article as:
A. Yamano, A. Shintani, T. Ito, and <. Nakagawa, “Evaluation of Driving Method of the Flexible Body Moving in Narrow Flow Passage,” J. Robot. Mechatron., Vol.26, No.3, pp. 349-357, 2014.
Data files:
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