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Title
Japanese:人工筋肉の三次元螺旋走行からなる円筒状多繊維筋構造メカニズムの試作 
English:Prototyping of cylindrical structures made of helical artificial muscles 
Author
Japanese: 平光立拓, 難波江裕之, 鈴森康一, 遠藤玄.  
English: Tatsuhiro Hiramitsu, Hiroyuki Nabae, Koichi Suzumori, Gen Endo.  
Language Japanese 
Journal/Book name
Japanese:日本機械学会論文集 
English:Transactions of the JAME (in Japanese) 
Volume, Number, Page Vol. 84    No. 862    p. 18-00083
Published date June 25, 2018 
Publisher
Japanese: 
English: 
Conference name
Japanese: 
English: 
Conference site
Japanese: 
English: 
File
Official URL https://www.jstage.jst.go.jp/article/transjsme/84/862/84_18-00083/_article/-char/ja/
https://www.jstage.jst.go.jp/article/transjsme/advpub/0/advpub_18-00083/_article/-char/ja#article-overiew-abstract-wrap
 
DOI https://doi.org/10.1299/transjsme.18-00083
Abstract Pneumatic artificial muscles have many advantages. They have high force mass ratio, high compliance and simple structures. Especially, the flexibility contributes to compose novel mechanisms. The flexibility of pneumatic artificial muscles releases us from the spatially strict design required for rigid mechanical elements: it could actualize compact mechanisms made of a fewer parts. OurresearchgroupdevelopedathinMcKibbenactuator. ThethinMcKibbenactuators is more flexible than conventional McKibben actuators. Authors succeeded in manufacturing novel soft mechanisms that are made of only braided artificial muscles. We aim to establish a design method for these novel mechanisms. We already have fabricated a cylindrical mechanism made of helical muscles. In this paper, we report a geometric model for the cylindrical mechanism. We focus on only deformation of a side surface in the coordinate system of muscles to simulate the movements of the cylindrical mechanism. The movement was verified by an experiment, and besides, it was simulated successfully in the geometric model that was created. The deformation of height and radius directions changed according to muscles alignment.

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