2P1-D13 収縮・剛性変化・伸長人工筋の組み合わせによる高剛性ラバーアクチュエータの実現

概要

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Recently, there has been an increase in research into the McKibben type artificial muscle, because it is small, light, and high power. In this study, not only the contraction artificial muscle, but also the stiffness change artificial muscle and the extending artificial muscle have been developed. By nonlinear finite element method analysis the best sleeve knitting angle has been derived to achieve the stiffness change and the extension and contraction motions. From the results, three kinds of artificial muscles realizing contraction and extension motion, and the stiffness change have been fabricated. To apply high hydraulic pressure into the muscle, these are composed of the three layer tube and the reverse tapered plug. We confirmed that three muscles generate stiffness change, contraction, and extension motions successfully respectively. In addition, the novel bending actuator has been developed by combining contractional and extensional artificial muscles. It has been realized bending motion with high stiffness.
一般社団法人日本機械学会の論文