SMAアクチュエータにおけるテンション調整機構の開発

抄録

This paper describes a tension adjustment mechanism in SAM actuator of balloon soft biped robot. A feature of this mechanism is that it keeps the strength constant as the robot leg swings up. As the adjustment mechanism, we were designed a slit disc and a slit set collar by 3D printer. In the walking experiment of the robot, we were able to obtain a sufficient leg angle for walking.