小形ロボット用二重円筒形ERブレーキの設計と試作

抄録

In the micromouse competition, small autonomous mobile robots run at high speed in mazes. The robot turns a corner at a steep angle in this competition. However, the recent competition is marked by speeding up. There is a limit to driving performance with motor current control braking. Electro-rheological (ER) fluid actuators have the potential of soft brake function for the small autonomous mobile robot because the ER fluid can easy and quickly control changes in viscosity by changing the electric field. In this paper the double cylindrical type of mechanical brake device using the ER fluid for the small robot was designed and fabricated. The performance of the ER braking device was verified through experiments.