油圧人工筋による高トルク・可変コンプライアンス3自由度手首機構

抄録

Hydraulic artificial muscles(HAMs) combine very high force by oil-hydraulic and the characteristics of pneumatic artificial muscles such as flexibility, light-weight, passive compliance. These characteristics are suitable for the actuators of the disaster response robots. In our previous researches, we developed the HAMs to which can be applied 7 MPa pressure and the prototype of wrist mechanism. by the HAMs. In this paper, we improved the defects of the prototype and verified its variable passive compliance. Finally, we demonstrated its usefulness by concrete chipping which it is expected that rescue robots will achieve.