面状柔軟変形移動体のための空気圧自励弁の開発

抄録

The purpose of this paper is to realize omnidirectional movement by generating a traveling wave with a simple command that only applies pressure to a bending module made of a flexible material. Also, in order to realize moving operation only by pressurization without using a solenoid valve, it is necessary to develop a pneumatic self-excited valve. The leaf spring built into the developed pneumatic self-excited valve snap bucking, creating two states : shutoff and open in two flow paths. We will develop a pneumatic self-excited valve to switch the four flow paths for generating traveling waves by combining multiple shutoffs and releases due to snap bucking of the leaf spring.