非線形弾性システムを有するアクチュエータを用いたけん駆動多自由度関節の機械式剛性制御

• 小金澤 鋼一

  東海大学

• 清水 祐貴

  東海大学

書誌事項

タイトル別名

• Mechanical Stiffness Control of Tendon Driven Multi-DOF joint by the Actuator with Non Linear Elastic System
• ヒセンケイ ダンセイ システム オ ユウスル アクチュエータ オ モチイタ ケンクドウ タジユウド カンセツ ノ キカイシキ ゴウセイ セイギョ

抄録

This paper presents a method for mechanical stiffness control of the Tendon-Driven joints of manipulator. A system fundamentally mimicking a skeletal muscle system requires a non-linear elastic element to regulate stiffness of a joint. One proposes a new actuator having a non-linear elastic element, which is called ANLES. This system gives us a free-hand for designing the elastic characteristics. At first this paper describes the equations for designing the elastic characteristics of ANLES. Next the basic formula for controlling the stiffness and posture of the multi-D.O.F. joints by multiple-ANLES throughout tendons is derived. It follows the computer simulation of 3 D.O.F. joint that is manipulated by 6 tendons or 8 tendons. The performance of controlling stiffness is evaluated by depicting stiffness ellipsoid.

収録刊行物

• 日本ロボット学会誌

  日本ロボット学会誌 22 (8), 1043-1049, 2004

  一般社団法人 日本ロボット学会

キーワード

• Stiffness
• Tendon-driven
• Non-linear Elasticity

詳細情報

• CRID: 1390282679702605952
• NII論文ID: 10014034081
• NII書誌ID: AN00141189
• DOI: 10.7210/jrsj.22.1043
• ISSN: 18847145
• ISSN: 02891824
• NDL書誌ID: 7224785
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I7224785
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• 抄録ライセンスフラグ: 使用不可