1A2-D06 ゴム人工筋を用いた3Dアクチュエータの開発と応用(アクチュエータの機構と制御)

概要

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This paper describes development of a 3D actuator that is consisting of two kinds of artificial rubber muscles. These are shrinkage type artificial rubber muscle reinforced with fiber and flexion type artificial rubber muscle. The 3D actuator is copied from movement of a tongue, so the 3D actuator can do flexion movement and peristaltic movement as human tongue. Characteristics of these artificial rubber muscle are investigated and built control table that indicate relationship among inner pressure, displacement and force. The 3D actuator was fabricated with the muscles. Characteristics of the 3D actuator, such as flexion rate, flexion force and of control table, were carried out. Concept and architecture of the 3D actuator and control method are also described in this paper.
一般社団法人日本機械学会の論文
2007-05-11