Development of underwater robot using Macro Fiber Composite

摘要

We developed several underwater robots by using Macro Fiber Composite(MFC), a new type of piezo-electric actuator with the merits of being soft and capable of large displacement, developed by NASA recently. MFC is made by processing PZT into a fiber-like state, hence yielding better flexibility, and structural actuation is possible by pasting it to thin structures since it is covered by polyimide film. Utilizing MFC’s characteristics of being thin and flexible, meandering motion observed in underwater creatures such as fish is possible by generating progressive waves for propulsive force. Hence, a space-saving, effective mechanism capable of underwater movement can be achieved. Furthermore, in addition to forward locomotion, whirling motion and locomotion direction switching by using multiple MFCs actuators has been realized also.