螺旋状のエアシリンダ型人工筋肉の出力特性

抄録

This paper describes the output when the air cylinder type artificial muscle developed in previous research is made into a helix shape.When an air cylinder type artificial muscle is bent, the rod and cylinder come into contact and friction occurs.As a result, the output of the air cylinder type artificial muscle changes depending on the shape of the bend.Therefore, we theoretically determined the friction between the rod and cylinder of a helix air cylinder type artificial muscle and derived the output theoretically.In addition, we actually measured the output of a spiral air cylinder type artificial muscle and compared it with the theoretical value.