Abstract
For the future-coming advanced old aged society, this paper describes the new developing method, designing with the dynamic analysis, of the internally frameworked (intra-skelton) manipulator, which works softly by the artificial muscle. The contraction characteristics of the Shape Memory Alloy artificial muscle, which is made as like as the living muscle, is also resembled by the "contraction equation" as same as this. And this has non-linear motion. Then the motion control of the manipulator with this artificial SMA muscle is difficult, especially, when unknown outer force comes. So this newly developed method consists firstly of a computer model of the manipulator, secondly of the dynamic analysis of the dynamic equation substituted the artificial muscle contraction characteristics equation. thirdly of the solutions, which are displayed on the CRT as animations, and finally of the easily changeable construction, which are recalculated and redisplayed.
