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ID 48952
フルテキストURL
著者
Wakimoto, Shuichi Research Core for Interdisciplinary Sciences, Okayama University
Suzumori, Koichi Graduate School of Natural Science and Technology, Okayama University
Ogura, Keiko Graduate School of Natural Science and Technology, Okayama University
抄録
Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.
キーワード
Soft actuator
pneumatic actuator
bidirectional motion
nonlinear analysis
発行日
2011
出版物タイトル
Advanced Robotics
25巻
9-10号
開始ページ
1311
終了ページ
1330
ISSN
0169-1864
資料タイプ
学術雑誌論文
プロジェクト
異分野融合先端研究コア
オフィシャル URL
http://www.tandfonline.com/doi/abs/10.1163/016918611X574731
言語
English
著作権者
© Koninklijke Brill NV, Leiden, 2011
論文のバージョン
publisher
査読
有り
DOI
Web of Sience KeyUT