進行波駆動形空圧ゴムアクチュエータの研究

概要

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A new pneumatic rubber actuator, named bubbler, realizing linear motion has been designed and developed. The bubbler consists of a silicone rubber slab, and its inside is divided into many chambers. When pressure is applied to successive chambers sequentially, the surface of the rubber slab produces linear traveling waves which drive objects placed on the actuator. This actuator can be used for a mobile robot base or for a conveyor. The mechanism and characteristics of this actuator are discussed in this report. The characteristics of the actuator can be estimated by applying a simple linear analysis for various driving conditions; frequency, length, duty of the generated waves, vertical loads, and horizontal loads. Experimental results are very promising. The walking speed of the prototype, 63 mm×60 mm×9 mm in size, was found to be 4.7 mm/s and the load-to-weight ratio in the order of 40:1.
社団法人日本機械学会の論文
1998-05-25