2P1-A07 高強力PBO繊維を用いた高水圧駆動McKibben型人口筋の開発(サーチ&レスキューロボット・メカトロニクス)

概要

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Small and light-weighted actuators which generate high force and high energy are strongly required for realizing powerful robots. We have developed a new hydraulic artificial muscle generating very high force and high energy by applying an ultra high strength PBO fiber sleeve to McKibben type artificial muscle. While conventional McKibben muscles are driven by pneumatic pressure about 0.7[MPa] at a maximum, the newly developed muscles are driven by water hydraulic pressure of 2[MPa], resulting in very high force. This report shows materials and structure of the new artificial muscle with PBO fiber sleeve. Muscles are evaluated by two parameters in this paper, force density per volume (FDV) and energy density per volume (EDV) with the comparisons with other linear actuators. The prototype is 40[mm] in diameter and 700[mm] in length. It achieves the maximum contraction force of 12096[N], FDV of about 18000[N/mm^3], and EDV of 2484[J/mm^3], which are 5 to 20 times bigger than those of typical conventional actuators with the same volume.
2008-06-06