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

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...

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Bibliographic Details
Published in:Journal of robotics and mechatronics 2021-04, Vol.33 (2), p.400-409
Main Authors: Nakanishi, Daisuke, Kobayashi, Shoya, Obara, Kiichi, Matsumura, Shotaro, Sueoka, Yuichiro
Format: Article
Language:English
Subjects:
Buckling
Fish
High frequencies
Maneuverability
Protozoa
Robots
Swimming
Thin plates
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Summary: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.
ISSN:0915-3942
1883-8049
DOI:10.20965/jrm.2021.p0400