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| Model Fish Robot, PPF-04 Updated on January 14, 1999 by Koichi Hirata 
Model Fish Robot, PPF-04 can be controled with wireless, using a personal computer with a D/A converter and a 2 ch radio control device (R/C). The R/C mdevice is water proof by an acrylic fiber box, and the PPF-04 can swim in the water.
 Video of the PPF-04 Turning performance of the PPF-04 Relation between the speed and frequency Relation between the speed and phase angle Measurement of electric power [ Power and Energy Engineering Division ] [ Hirata HOME ] [ NMRI HOME ] |
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| Contact khirata@nmri.go.jp |
A feature of the PPF-04 is shown in the left photograph. In order to swim in a small water tank like a home bath, its size is as possible as compact (190 mm body length, 400 g weight). Targets of the manufacturing the PPF-04 are;
This photograph is upper view of the PPF-04. Symbol A is a servo motor for the tail part (ch0), B is a servo motor for the tail fin (ch1), C is water proof boots, D is a No. 1 joint, E is a No. 2 joint, F is the tail part, G is the tail fin, H is a link mechanism for the tail part, and I is a link mechanism for the tail fin.
This photograph is side view of the PPF-04. Symbol J is a R/C receiver, K is a Ni-Cd battery, L is an electric switch, M is balance weights, N is an antenna, O is a back fin, and P is holes for breast fins.
The link mechanism for the PPF-04 is shown in the left photograph. The two servo motors move the two joints. The right servo motor moves the tail part, and the left servo motor moves the tail fin.