シリコーンゴムの硬化阻害を利用したソフトロボット構成法に関する実験的検討

―剛性材料―柔軟材料間の拘束状態が関節構造の挙動に与える影響の調査―

抄録

In this paper, we focus on the constraint conditions at the boundary of the skeletal-skin structure with cure inhibition of silicone rubber, and experimentally investigate the effect of the difference in the constraint on the mechanical properties. First, we confirm the effect of cure inhibition on the reduction of adhesion and dynamic friction by friction tests, and we obtain the equivalent friction coefficient. Next, we show that the effect of cure inhibition can be reproduced by setting the contact conditions at the boundary between the rigid and elastic materials in the finite element model. From the analysis results, the mechanical properties of the skeletal-skin structure are verified.