抄録
A robot which runs under a human symbiotic environment needs to reduce the possibility of mechanical failures in collision. Most commercially available humanoid robots use actuators with gears, and they are damaged easily with a shock. Actuators, without gears for a drive division, using a polymer or the air pressure to resolve such problems have been developed so far. This paper focuses on the MR fluid that changes its apparent viscosity by a magnetic field and proposes a functional fluid linear actuator that transforms linear vibration one-way motion by controlling functional fluids. It shows the validity of the proposed functional fluid linear actuator so that we design and develop prototypes of the proposed actuator, design a controller for the actuator, and investigate the behavior of the actuator.
