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JRM Vol.33 No.2 pp. 400-409
doi: 10.20965/jrm.2021.p0400
(2021)

Paper:

Development of a Fish-Like Robot with a Continuous and High Frequency Snap-Through Buckling Mechanism Using a Triangular Cam

Daisuke Nakanishi*, Shoya Kobayashi*, Kiichi Obara*, Shotaro Matsumura*, and Yuichiro Sueoka**

*Department of Control Engineering, National Institute of Technology, Matsue College
14-4 Nishi-ikuma, Matsue, Shimane 690-8518, Japan

**Department of Mechanical Engineering, Graduate School of Engineering, Osaka University
2-1 Yamadaoka, Suita, Osaka 565-0871, Japan

Received:
May 13, 2020
Accepted:
February 11, 2021
Published:
April 20, 2021
Keywords:
fish-like robot, snap-through buckling, underwater robot
Abstract
Development of a Fish-Like Robot with a Continuous and High Frequency Snap-Through Buckling Mechanism Using a Triangular Cam

Fish-like robot with snap-through buckling

This study focuses on the high maneuverability of fish in water to design a fish-like robot via snap-through buckling. The aim of this study is to improve swimming speed by increasing the frequency at which snap-through buckling occurs. Here, we propose a novel drive mechanism using a triangular cam that can continuously generate snap-through buckling at a high frequency. In addition, we developed a fish-like robot via the proposed mechanism and analyzed the influence of the frequency of snap-through buckling on swimming speed. The results obtained indicate that swimming speed is improved and that the relationship between frequency and swimming speed exhibits a single peak. In other words, the swimming speed is reduced when the frequency is significantly increased. We also determined that swimming speed was improved using a wide elastic thin plate as the driving mechanism.

Cite this article as:
Daisuke Nakanishi, Shoya Kobayashi, Kiichi Obara, Shotaro Matsumura, and Yuichiro Sueoka, “Development of a Fish-Like Robot with a Continuous and High Frequency Snap-Through Buckling Mechanism Using a Triangular Cam,” J. Robot. Mechatron., Vol.33, No.2, pp. 400-409, 2021.
Data files:
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Last updated on Oct. 22, 2021