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JRM Vol.34 No.1 pp. 40-46
doi: 10.20965/jrm.2022.p0040
(2022)

Paper:

Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold

Mizuho Shibata

Kindai University
1 Takaya Umenobe, Higashi-Hiroshima, Hiroshima 739-2116, Japan

Received:
March 4, 2021
Accepted:
September 16, 2021
Published:
February 20, 2022
Keywords:
fish-like robot, deformable body, silicone mold
Abstract
Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold

Fish-like robot fabricated by silicone mold

This paper describes a fish-like robot with a deformable outer shell fabricated using a silicone mold. Based on the difference in the contact condition between the serial-link robot and the shell, the fabrication methods are classified into embedded type and skin type. This study analyzes the mechanical properties of embedded and skin-type underwater robots from the viewpoint of material mechanics. A low-torque motor can sufficiently drive the skin-type underwater robot if the friction coefficient and pressure between the skin and the link are appropriately selected. Furthermore, the outer skin of the fish-like robot can be easily fabricated by defoaming in the chamber of a vacuum-packaging machine. Finally, the performance of the skin-type robot in air and underwater was assessed through several experiments.

Cite this article as:
M. Shibata, “Fish-Like Robot with a Deformable Body Fabricated Using a Silicone Mold,” J. Robot. Mechatron., Vol.34, No.1, pp. 40-46, 2022.
Data files:
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Last updated on Sep. 26, 2022