2A1-B04 人工筋肉用リニア電磁アクチュエータで駆動する生体模倣型上肢ロボットの開発

概要

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For realizing androids that have very humanlike mechanisms and movements, they have been developed by using pneumatic actuators. However, pneumatic actuators require a large and powerful air compressor and controlling them is difficult. Therefore, we have been studying a new linear actuator with interior permanent magnet mover for androids. This actuator is driven by a battery and controllable compliance. In the development, we have found a structure of the actuator that is more powerful and quick through iterative simulations based on the 3-D finite element method and developed the prototypes and control system for them. In this paper, we will show the structure, various simulations and experiments of the new linear actuator and development of the biomimetic robotic arm driven by our actuators.
一般社団法人日本機械学会の論文