ゴムの物性を考慮したMcKibben型空気圧ゴム人工筋のヒステリシス特性のモデル化

抄録

In a power assist robot driven with an artificial muscle, an accurate artificial muscle model is required to design a robot. It is desirable that the model can be calculated without adjustment parameters based on the actual characteristics of the artificial muscle. The characteristics of various artificial muscles mounted on the robot must be actually measured to identify the adjustment parameters. The above explanation is the reason why the accurate artificial muscle model without adjustment parameters is required. The purpose of this study is to improve the accuracy of the artificial muscle model by modeling the hysteresis characteristics of the artificial muscle based on the parameters such as material properties and geometric conditions. In this paper, we propose the hysteresis characteristic model of McKibben type artificial rubber muscle focused on the end shape of the artificial muscle. It is considered that the hysteresis is caused by the shearing force between the rubber surface and the fiber sleeve at the muscle end owing to friction. In the proposed model, the hysteresis characteristic is modeled based on the physical properties and shape parameters of the artificial muscle. The accuracy of the proposed model is confirmed by comparing with the actual characteristics of artificial muscles made with the same dimensions as the model.