2A1-D10 力学平衡モデルを使用したラバーレス人工筋肉駆動1リンクマニピュレータの角度制御(アクチュエータの機構と制御(1))

Abstract

We are developing the Rubberless artificial muscle to improve problems by the deterioration of the rubber tube of the rubber artificial muscle. The Rubberless artificial muscle can be driven by low pressure than rubber artificial muscle. However, Rubberless artificial muscle's contraction characteristic is highly nonlinear and it has large hysteresis characteristics. Hence, it is difficult to control the artificial muscle manipulator. This paper describes about mechanical equilibrium model of Rubberless artificial muscle and angle control of Rubberless artificial muscle manipulator. As a result, the delay with the targeted value occurred, but an almost good result was provided. Therefore, I confirmed possibility of the application to mechatronics of Rubberless artificial muscle.