McKibben型空気圧ゴム人工筋の有限要素法による動作解析 : 繊維コード間の摩擦を考慮しないモデル(機械力学,計測,自動制御)

概要

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In order to establish quantitatively a design method for the McKibben type rubber artificial muscle with the optimal characteristics, analysis of operation is performed by means of the three-dimensional finite element method. First, the three-dimensional finite element method model which does not take into consideration friction between plastics fiber codes is proposed as a simple model for acquiring the design manual of the McKibben type rubber artificial muscle, the compatibility, the experimental values, and the usefulness of a model are examined. Moreover various parameter study (crossed axes angle of a fiber code etc.) of the McKibben type rubber artificial muscle is carried out, and the characteristics of the McKibben type rubber artificial muscle can be predicted. The proposed analysis can be applied to the useful design method.
社団法人日本機械学会の論文
2009-06-25