Abstract
Recently, robots rescuing or probing instead of human in dangerous places such as scene of a disaster are developed. In such an environment, it cannot respond to all irregular terrain by the move mechanism of a wheel type or a caterpillar type. Therefore, we paid attention to a legged robot. And, in this study, we use pneumatic artificial rubber muscle as an actuator of the legged robot. It contracts by air pressure and this actuator has flexibility, lightweight, and high-output density. We developed a leg of a hexapod robot, which is the parallel linkage mechanism using the straight-fiber-type artificial muscle. By this structure, structural posture maintenance was enabled, and higher bearing power was realized. Moreover, the theoretical formula of the leg including the characteristics of the artificial muscle is developed. And we guess that the theoretical formula reproduces experimental result. Furthermore, we propose about the design of a hexapod robot.
