空気圧を用いた柔軟変形移動体の開発

―3Dプリンタを用いた高軟質素材で成形された屈曲モジュールと空気圧自励弁の開発―

抄録

In this research, we aim to realize omnidirectional movement operation by developing flexible deformable body using 3D printer. However, the bending module developed in the previous study confirmed the problem of requiring air leakage and bending motion requiring high pressure, and a large number of tubes as a flow path. We developed an injection mechanism capable of injecting two-component curing type silicone called PDMS, which is a highly flexible material. In addition, since the number of tubes serving as flow paths is large, it is greatly affected by the movement operation in the omni-directional movement operation. Therefore, we developed a pneumatic self-excited valve aiming at reducing the number of flow channels.