腹足類の運動を参考とした柔軟シート形アクチュエータ

抄録

In this paper, we propose a method to create a various waveform for a pneumatic sheet actuator that generates traveling waves called “Wavy-sheet”. Wavy-sheet is a soft actuator that can generate traveling waves. By arranging the inner tubes, various waveforms can be designed that has different characteristics such as amplitude, velocity, and stiffness. First, we derived a combination of waveforms. The result showed that there are mainly three kinds of waveforms that are actuated by three chambers. Next, amplitude and velocity had been analyzed. Finally, prototypes of the actuators had been fabricated and characteristics were measured by some experiments. The results showed that each wave has different characteristics and it is effective to select the waveform depending on the application.