A107 柔軟関節を用いた空気圧駆動鉗子マニピュレータの開発(OS9 フルードパワーの基礎と応用1)

抄録

This paper presents the first prototype of pneumatically-driven forceps manipulator using a simple flexible joint for future miniaturization. A high performance spring component with wire actuation is employed for two-degree of freedom (DOF) bending joint, and two-DOF tendon drive system is implemented by four pneumatic cylinders. Using a continuum model for the kinematics, a PD controller with static and dynamic compensation is designed for the position control, which shows a good performance at 2.0 Hz enough for surgical operations. In addition, the forceps manipulator can estimate external forces using disturbance observer. A link approximation model is introduced to design the observer as the first intuitive approach. The force estimation can be achieved with an accuracy of 0.2 N in the basic straight posture.