水中ロボットアームを用いた水泳時の四肢に働く非定常流体力の解明（第2報，実験結果に基づく流体力のモデル化）

摘要

The objective of this study was to clarify the unsteady characteristics of the fluid force acting on limbs during swimming. For this objective, an underwater robot arm, which has five degrees -of-freedom in order to perform the various complicated limb motions during swimming, was developed. In the previous study, an experiment to measure the unsteady fluid force was conducted for four swimming strokes of the upper and lower limbs. In this paper, the unsteady fluid force model was firstly formulated. Second, the simulation of experimental conditions was conducted. Two fluid force coefficients, which are the parameters in the fluid force model, were identified using optimizing calculation, so that the discrepancy of the forces and moments between the experiment and simulation was minimized. In addition, the fluid force models which depend only on limb's shape were determined. A good agreement between the experiment and simulation with the determined fluid force model indicated validity of the determined model. The identified fluid model will be useful for mechanical analyses of various swimming motions in the future studies.%水泳においては四肢が生み出す推力が重要であるこrnとが知られているが，四肢に働く流体力はいまだ十分rnに解明されていない．そこで本研究では，5自由度をrn有し人間の泳動作に近い動作が可能な水中ロボットアrnームを用いて水泳時の四肢に働く非定常流体力を解明rnすることを目的とする．前報において著者らは，5rn自由度を有し人間の泳動作に近い動作が可能な水中ロrnボットアームの開発を行い，非定常流体力測定実験をrn行った．