2A1-B07 空気圧アクチュエータを用いたマスタ・スレーブハンドの開発と制御(安全・安心なロボットを目指して)

概要

論文の詳細を見る
Recently, robot research that coexists with people and is helpful for them is active. Such a robot needs both safety and flexibility. Then, we use a pneumatic actuator as driving source of robot hand. We originally develop a pneumatic actuator driven by low pressure because we consider that conventional pneumatic actuator is inadequate for driving source of robot hand. We develop five fingered robot hand using the pneumatic actuator. The robot hand has both safety and flexibility. We construct master-slave system to let the robot hand do the same movement as man. Next, we make a joint model that has one degree of freedom using a pneumatic actuator. We construct control system for the joint model and verify its control performance.
一般社団法人日本機械学会の論文
2007-05-11