Fluid Mechanics & Robot
Fluid Mechanics & Robot
Knowledge on fluid mechanics, especially, the interaction between the fluid flows and the structures (fluid-structure interaction, FSI), plays an important role in developing and optimizing the performance of robots in terms of locomotions. Here, we are interested in studying the living system in nature and transforming its mechanism into the actual system.
1. Swimming soft robot
Experimental apparatus for a freely rising, swimming soft robot
Buoyancy measurement in a buoyancy-generating structure
Ascent trajectories of an unstable and optimally designed swimming sheet.
Buoyancy measurement in a buoyancy-generating structure
2. Flexible nozzle
Expreimental setup
flexible nozzle moving according to the accelerating jet
The thrust and the jet velocity increase when the nozzle becomes more flexible
: No nozzle
: Π1 = ∞ (rigid nozzle)
: Π1 = 17.1 N/m (less flexible nozzle)
: Π1 = 1.2 N/m (more flexible nozzle)
The strength of the primary vortex is inversely proportional to the nozzle stiffness(Eh)
Eh= ∞
(Rigid)
Eh=60.0
(Stiff)
Eh= 24.5
(Less flexible)
Eh=8.1
(Most flexible)
3. Flapping flight of a dragonfly
4. Insect flight
The flight of the female beetle (take-off);
Elytra open and middle legs elevate(left), Hind wings unfold and begin stroke(middle), Take off(right)
Kinematic analysis; time history of flapping angle
5. Caudal-fin swimming in nature
Thrust generation by caudal-fin oscillation