進行波駆動形空圧ゴムアクチュエータの研究

• 鈴森 康一

書誌事項

タイトル別名

• A Pneumatic Rubber Actuator Driven by Traveling Waves.
• シンコウハ クドウガタ クウアツ ゴム アクチュエータ ノ ケンキュウ

抄録

A new pneumatic rubber actuator, named bubbler, realizing linear motion has been designed and developed. The bubbler consists of a silicone rubber slab, and its inside is divided into many chambers. When pressure is applied to successive chambers sequentially, the surface of the rubber slab produces linear traveling waves which drive objects placed on the actuator. This actuator can be used for a mobile robot base or for a conveyor. The mechanism and characteristics of this actuator are discussed in this report. The characteristics of the actuator can be estimated by applying a simple linear analysis for various driving conditions; frequency, length, duty of the generated waves, vertical loads, and horizontal loads. Experimental results are very promising. The walking speed of the prototype, 63 mm×60 mm×9 mm in size, was found to be 4.7 mm/s and the load-to-weight ratio in the order of 40:1.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 64 (621), 1568-1573, 1998

  一般社団法人 日本機械学会

キーワード

• Actuator
• Pneumatic actuator
• Rubber actuator
• Mechatronics
• Robot
• Mobile robot

詳細情報

• CRID: 1390001206327659008
• NII論文ID: 130004232706
• NII論文ID: 110002383723
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.64.1568
• COI: 1:CAS:528:DyaK1cXksFWisbw%3D
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 4481241
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4481241
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/64/621/64_621_1568/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可