Development Diary of the UPF-2001


May 2001: Conception

We start to develop a new fish robot. It is based on the PF-600, and aims to get higher swimming speed. The figure to the right is an early sketch.

June 1, 2001: Conception of the Drive Mechanism

We duscuss about the drive mechanism with a D/C motor.

June 2, 2001: Measure the Drive Torque?

We also consider the measuring method of the D/C motor.

June 12, 2001: Structure of the Tail

We duscuss about the structure of the tail mechanism.

June 28, 2001: Structure of the Tail

We also duscuss about the structure of the tail mechanism.



July 1, 2001: Conception of the Unit-type

We consider the Unit-type fish robot, which is consist on the separated units.

July 6, 2001: Conception of the Tail

We duscuss about the structure of the tail mechanism. The figure to the right shows its sketch.

July 10, 2001: Conception of the Tail

We have been discussing the structure of the tail mechanism ever since.



August 7, 2001: Feature

At last, the whole feature is imagined well.

August 10, 2001: Make Parts

We make the parts of the tail mechanism.

September 11, 2001: Make Parts

We make the parts of several units. Sorry, Japanese picture.

October 22, 2001: Make Parts

A lot of parts are completed.

October 25, 2001: Make Parts

We are making a cover of a power unit and a part of a Scotch-yoke mechanism.



November 1, 2001: Power Unit in the Water

We tried to work the power unit in the water. We could not confirm any water leakage.

November 7, 2001: Stream-lined Body

In order to decide the body, we made three kinds of stream-lined models.



November 9, 2001: Overall Structure

We are discussing the overall structure on the CAD.



November 30, 2001: Building a Body

It is the final stage. We are building the body.



December 4, 2001: Building a Body

The wood frame of the body is completed.



December 10, 2001: Building the Body

The wood frame is completed.

December 11, 2001: Building of floats

We make floats with consideration of the balance. They are used for FRP patterens.



December 12, 2001: Building of a FRP body

We are building the FRP body.

December 18, 2001: The body shaving

We are shaving the surface of the body earnestly.

December 20, 2001: Painting

We are painting the body. It is the final stage of this development.

December 21, 2001: Launching ceremony

Today is the launching ceremony finally. The UPF-2001 started to swim well as shown in the photograph to the left. However, after a few minutes, bearings was broken into pieces as shown in the photograph to the right. It is too lacked strength.



December 25, 2001: Lacked strength

We had tried to swim the UPF-2001. Up to now, three bearings and two rods were broken.

December 26, 2001: Adjustment of buoyancy

We adjust the float in a small water tank. And we make several mechanical parts to get enough strength.



January 7, 2002: Measuring of swiming speed

The swiming speed of the U=P-2001 is measured in a water tank whch has 25 m of length, 10 m of width and 2 to 5 m depth.



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