中空構造を有した小型軽量な空圧回転体

抄録

This paper proposes small and lightweight pneumatic motor with a hollow structure. The fluid powered motors have advantages of explosion-proof or radiation-proof ability, and is expected to become of the main actuators for field robots. In this study, we present the new structure of in-wheel-type pneumatic motor. The rotation mechanism consists of flexible tubes and rollers realizes small and high torque rotation. We first propose the structure and mechanism of the motor, then we elucidate characteristics in terms of torque and rotational speed through experiments. We confirmed the mechanism can generate maximum torque of 89.6 mN/m at 220kPa without reduction drive.