2A1-J16 水力学的骨格を利用した柔軟な機械システム : 袋状構造の耐圧向上とトルクの測定(フレキシブルロボット・メカニズム)

Abstract

This study proposes a new flexible mechanical system using hydraulic skeleton. With this system, flexible bags are used as hydraulic skeletons. In our former system, the output force is not high because of low durability of the bags which are made of soft urethane rubber. To increase the output force, this study reinforces the bags for durability enhancement. The bag is reinforced by polyester (C-type) or aramid (D-type). The rupture pressure is 0.80MPa in D-type and 0.44MPa in C-type whereas 0.06MPa without reinforcement type. Estimated maximum torque of D-type is 6.90Nm whereas maximum torque of the former type is 0.23Nm.