J1103-1-1 形状記憶ポリマーを用いたMcKibben型アクチュエータの開発([1103-1]次世代アクチュエータシステム)

概要

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Shape-memory polymers (SMPs) can be deformed above their glass transition temperature (T_g) upon the application of a small load. They can maintain their shape in a rigid form after they have been cooled to below T_g. When heated again above T_g, they return to their predefined shape. Exploiting these characteristics, we developed a McKibben actuator which can fix into a rigid shape without the need for continuous control using an SMP. When this new actuator is warmed above T_g, it can be used as a conventional McKibben actuator. When the actuator attains its desirable length, it can be cooled to below T_g and the SMP will fix the structure in a rigid, actuated, state. This state is maintained without the need for any air supply or control system. The enhanced versatility of this new actuator is shown through a series of experiments conducted on a prototype SMP McKibben actuator.
2010-09-04