屈曲型空気圧ゴム人工筋肉を用いた冗長自由度マニピュレータの開発

抄録

Robots for human are required to have safety while working with them. Therefore we focused to a pneumatic artificial muscle which has intrinsic flexibility. In this paper, we developed a bending-type pneumatic rubber artificial muscle and a unit driven by 3 artificial muscles. We are aiming to develop redundant degree of freedom manipulator by connecting a number of units. We also developed the expression for load characteristic of the artificial muscle. By experiments, this expression showed similar characteristic to the muscle. However, there were errors because of initial warpage. Finally, we tried to drive the unit. As a result, although results and target directions were small different, the unit was able to drive omnidirectionally.