2A2-I08 柔軟空気圧シリンダを用いた柔軟メカニズムの開発(アクチュエータの機構と制御)

概要

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The purpose of our study is to develop a spherical pneumatic actuator as a flexible mechanism with a simple structure. This novel actuator will be applied to a rehabilitation device for human wrist. In this paper, a spherical pneumatic actuator using two flexible pneumatic cylinders is proposed and tested. This paper describes the construction, operating principle and fundamental characteristics of the tested spherical actuator. In addition, the master-slave control system using the tested actuator, a microcomputer, two accelerometers and four small-sized quasi-servo valves is constructed and tested. As a result, the tested actuator can work in a range of 240 degrees and can generate the torque of more than 0.3 Nm. It is also confirmed that the slave spherical actuator can track the master's movement by the use of quasi-servo valve which consists of two on/off control valves.
一般社団法人日本機械学会の論文
2011-05-26