人工筋肉の三次元螺旋走行からなる円筒状多繊維筋構造メカニズムの試作
書誌事項
- タイトル別名
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- Prototyping of cylindrical structures made of helical artificial muscles
説明
Pneumatic artificial muscles have many advantages. They have high force mass ratio, high compliance and simplestructures. Especially, the flexibility contributes to compose novel mechanisms. The flexibility of pneumatic artificialmuscles releases us from the spatially strict design required for rigid mechanical elements: it could actualize compactmechanisms made of a fewer parts. OurresearchgroupdevelopedathinMcKibbenactuator. ThethinMcKibbenactuatorsis more flexible than conventional McKibben actuators. Authors succeeded in manufacturing novel soft mechanisms thatare made of only braided artificial muscles. We aim to establish a design method for these novel mechanisms. We alreadyhave fabricated a cylindrical mechanism made of helical muscles. In this paper, we report a geometric model for thecylindrical mechanism. We focus on only deformation of a side surface in the coordinate system of muscles to simulatethe movements of the cylindrical mechanism. The movement was verified by an experiment, and besides, it was simulatedsuccessfully in the geometric model that was created. The deformation of height and radius directions changed accordingto muscles alignment.
収録刊行物
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- 日本機械学会論文集
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日本機械学会論文集 84 (862), 18-83, 2018-06
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詳細情報 詳細情報について
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- CRID
- 1573668927584993280
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- NII論文ID
- 120006582687
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- ISSN
- 21879761
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- 本文言語コード
- ja
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- データソース種別
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- CiNii Articles