DNA型多自由度柔軟ロボット

概要

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Recent years, robots is request behavior suitable for various field and environment. Therefore the purpose of this research is product that DNA type multi-DOF flexible robot has various shape and movement by using structure of DNA. Base pairing of DNA has 3DOF, which is Roll, Slide, and Twist. DNA does movement of super helix or bend of complex shape by change of 3DOF. Super helix is that the spiral forms spiral further. In this paper, movement of DNA was analyzed by theory of DNA structure and DADS (Dynamic Analysis and Design System), and produce robot that has Roll, Slide and Twist DOF of DNA. Shape Memory Alloy (SMA) is used for actuator of DNA type robot. Roll is changed two stages by SMA, and Slide is changed a stage too. Twist is changed stage by manual operation. DNA type robot achieve eight super helix by combination of parameter of DOF, and succeeded in coiling round column by using spiral movement of DNA type robot.
2006-10-30