人工筋肉を目指した形状記憶合金アクチュエータ : 巻フィルムチューブ方式の提案(機械力学,計測,自動制御)

概要

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The inner skeletal humanoid robot needs the actuator with the high performance such as a natural muscle. In this study, we aim to realize the actuator that is comparable with a natural muscle from the viewpoint of flexibility, power and response. We constructed a Shape Memory Alloy (SMA) actuator protected by "Rolled film tube" made of polyimide film with high heat resistance. The SMA actuator proposed in this study is driven by Pulse Frequency Modulation (PFM) found in the bio-motion. As the fundamental characteristic of the actuator, the output force and output displacement against input pulse frequency are investigated in the experiment. Consequently, it is found that the SMA actuator proposed can be employed in place of a natural muscle.
一般社団法人日本機械学会の論文
2005-03-25