空気圧人工筋肉を用いた冗長マニピュレータの開発

抄録

This paper presents study of high safety redundant manipulator. Human friendly robot is increasing in recent years. But, they are often made of high stiffness actuator. For that reason, high stiffness actuator isn’t safe in case of collision with human. On the other hand, soft actuator is safe to contact because it is made of rubber and fiber. In this study, we use Pneumatic Rubber Artificial Muscles (PAM) as an actuator of the manipulators. Furthermore, we divide a manipulator into some units. At first, we manufacture the control of the unit and decide dimensions. Finally, we experimented on the drive of the unit that we made.