螺旋状エアシリンダ型人工筋肉の理論出力と実験値

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.The radius and lead angle of the helix were actually varied, and the output of the air cylinder type artificial muscle was measured, compared with the theoretical values, and analyzed.