2A1-A20 跳躍・走行・舞踏ロボット用バイオミメティックアクチュエータの開発 : シリコンゴムを用いたロボット用腱構造の開発

概要

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The authers have been developing motor-spring-joint series connection type biomimetic soft actuators to make robots act jumping, runnning and dancing like animals. The spring plays the role of the tendon of the mascular-skeletal system of the animals. In this study, instead of the formerly developed actuators using normal torsion coil type spring, a silicone rubber compression type tendon structure was proposed. After the trial manufacturing, the silicone rubber tendon structure can be composed less weight with more load capacity. It also can be adjusted its rigidity easily to the same order of such as human achilles tendon. The load capacity and the rigidity of the silicone rubber tendon structure can be adjusted by the size (width and size of the cross-sectional area) and the rigidity of the silicone rubber. A single joint type biomimetic actuator was also produced using silicone rubber tendon structure and 150W D.C. coreless motor. The actuator was set on the one-axis movable test bench to restrict the motion along the spline shaft. After the simple jumping experiment, it was found that the actuator could jump to the 115mm height softly and without needless vibrations.