ダチョウ首規範マニピュレータの人工筋駆動のための筋配置の検討

抄録

Ostrich-shaped hyper-redundant manipulator was created using pneumatic artificial muscles and a plastic articulated structure, which was driven by muscle drive similar to internal drive by moving the artificial muscles. The problem of insufficient stroke of the artificial muscles due to the nature of pneumatic artificial muscles led us to propose an attachment method that increases the stroke of the artificial muscles by folding the artificial muscles and passing the artificial muscles through the center of rotation. Comparative experiments were conducted to compare the contribution of the folding of the artificial muscles to changes in the range of motion and the effect of the artificial muscles passing through the center of rotation on the torque generated. As a result, it was confirmed that the stroke was increased by the folding of the artificial muscle and the torque generated was increased by passing through the center of rotation.