渦巻型空圧ゴムアクチュエータの試作と搬送実験

抄録

Soft robotic is a rapidly developing field exploiting biomimetic design principles, novel actuation concepts, and manufacturing techniques. The present study focuses on the development of a spiral pneumatic rubber actuator which can transport objects placed on the surface of actuator. The actuator consists of multiple air chambers and provides sequentially traveling waves when the pressure is applied to successive chambers. The fabrication process and mechanism of the spiral pneumatic rubber actuator are discussed in this paper. Throughout the experiment, it is found that the sequential deformation of successive chambers could generate traveling waves on the surface, thus achieving transportation of the objects.