ゾウの鼻型パワーソフトロボットアーム

抄録

The purpose of this research is to develop an elephant trunk shaped power soft robotic arm with both high power and flexibility. Our proposed arm consists of three elements: hydraulic artificial muscles to drive the arm, a compressive stress support component reinforced with fabric, and a gripper reinforced with knit. In this paper, We fabricated prototypes of the compressive stress support component and the gripper. Then their performance was confirmed by experiments. The experiment confirmed that the stiffness of the compressive stress support component can be changed by varying the applied pneumatic pressure. And the experiment also confirmed that the gripper can grasp objects of up to 20 kg.The purpose of this research is to develop an elephant trunk shaped power soft robotic arm with both high power and flexibility. Our proposed arm consists of three elements: hydraulic artificial muscles to drive the arm, a compressive stress support component reinforced with fabric, and a gripper reinforced with knit. In this paper, We fabricated prototypes of the compressive stress support component and the gripper. Then their performance was confirmed by experiments. The experiment confirmed that the stiffness of the compressive stress support component can be changed by varying the applied pneumatic pressure. And the experiment also confirmed that the gripper can grasp objects of up to 20 kg.