湾曲型空気圧ゴム人工筋の内部構造による湾曲特性

―内蔵する板ばねの材料と寸法による違い―

抄録

This study investigates the mechanical characteristics of bending pneumatic artificial muscles. Typical rubber muscles are shortened with the compressed internal air pressure in the rubber tube. On the other hand, the bending-type artificial muscle bends because an inserted flat plate along the rubber tube prevents the muscle from shortening. Thus, the mechanical properties of the internal plate affect the bending displacement of the muscles and depend on the plate's thickness and material. We investigate the bending displacement of the rubber muscles, changing the plate's thickness of two plastics. The experimental results reveal that the flexural rigidity of the internal plate can determine the bending displacement regardless of materials.