自己修復機能を有する腱駆動アクチュエータユニットの修復性の向上に関する研究

抄録

It is necessary to achieve both strength and self-repairing rate in order to realize a self- repairing robot. Therefore, in this research we developed a self-repairing actuator unit using thermoplastic resin. It was found from experiments that it is possible to realize a high self-repairing rate by designing a shape of parts to be bonded with the resin and adjusting the heating time for dissolving the resin. It was also confirmed that the strength of the self-repairing part can also be adjusted by changing the shape of the parts. In the future work, increasing in strength and miniaturization of the actuator unit are required as a task for mounting on robots.