2P1-M10 二関節筋駆動系におけるマルチモータとER流体クラッチによる粘弾性特性制御(バイオミメティクス・バイオメカトロニクス)

概要

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The target of this research is to develop a redundant actuator control system for a 2-DOF robotic arm. A multi-motor structure with parallel-mounted small-size motors and an ER fluid clutch is implemented to switch between mono-articular and bi-articular actuation control. The aim of applying the ER clutch fluid is to gain controllability of the viscoelastic property in the joints with simple control algorithms, and to perform precise positioning with smooth starts and stops. In this report, the experimental results of the basic dynamic characteristic of the up-swing arm positioing control when ER fluid clutch is presented. The ER fuild clutch structure tends to provide better shoulder joint angle positioing.
一般社団法人日本機械学会の論文
2011-05-26