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Model Fish Robot, PPF-05

Updated on January 29, 1999 by Koichi Hirata

From the experimental results of the PPF-04, it is made sure that the high frequency produces the high speed swimming. The motion of a R/C servo motor, like the PPF-04 is not suitable for the high frequency, because the servo motor turns over the rotation. On the other hand, a rotated motor, which has regular rotation is a suitable power source for th ehigh frequency. Model Fish Robot, PPF-05 uses a small D/C motor as the power source, and it can work with the high frequency.

A length of the PPF-05 is 196 mm, a total weight is 245 g. The small D/C motor, a gear box and a battery box are located on an aluminum flame like a left figure. The flame is covered and sealed by a O-ring. An output shaft of the gear box is sealed by a Teflon tube (ID: 2 mm) simply. A tail part and a tail fin are made by one board of polypropylene (thickness: 0.75 mm).

The rotating motion of the output shaft is changed to vibration of the tail part by a Scotch-yoke mechanism. The maximum amplitude is 5.7 degrees (=tan-10.1) constant. A phase angle between the tail part and the tail fin is effected by the force to the tail and the elasticity of the polypropylene.

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