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Turning performance of the PPF-04
Turning performance of the PPF-04As the ways to turn the fish robot;(1) A way to utilize breast fins or abdomen fins, (2) A way to incline of the tail vibration from the center line, (3) A way to change the velocity of left and right moving, and others are considered. As the first step, (2) is adopted in this experiment. A 360 degrees turning of the PPF-04 is shown in the left composite photograph. As the moving conditions, a phase angle between the tail part and tail fin is 90 degrees, a frequency is about 3 Hz, and a moving angle from 10 to 40 degrees of left from the center line. This result shows the PPF-04 turns with about 150 mm radius. Also, it is not well to turn the right, because the control program is not perfect, maybe.
 Video of the PPF-04 Relation between the speed and frequency Relation between the speed and phase angle Measurement of electric power [ View of Model Fish Robots ] [ Fish Robot Home Page ] [ Power and Energy Engineering Division ] [ Hirata HOME ] [ NMRI HOME ] |
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