フレキシブルアクチュエータによるロボットハンドの制御システム

概要

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A flexible actuator is a new air pressure actuator which uses elastic modification of rubber. Now, the adaptation field of a robot hand has spread. Therefore, the conventional air pressure actuator cannot be used in the new field. The flexible actuator has been developed as the solution method of this problem. A flexible actuator can easily handle soft things and things of complicated forms.The purpose of this study is to make a robot hand which uses the flexible actuator as an experiment and to manufacture the control system of the robot hand.The control system manufactured this time has attained the multi-stage control for operating the fingers of the robot hand smoothly,and the control for operating each finger separately.The result is a success in dealing with things of various forms by the robot hand which was made this time as an experiment.
福島工業高等専門学校の論文
2001-00-00