304 ストランド筋アクチュエータを用いた高機能ロボットショルダ

• 須山 智弘

  東海大学

• 鈴木 昌和

  東海大学

書誌事項

タイトル別名

• Design of multi-D. O. F. robot shoulder using Strand-muscle actuators

抄録

In order to realize compact but multi-functional/high performance robots the authors proposed strand-muscle actuators. The actuators can easily realize complex motions in spite of their simple mechanism, and extendable joint mechanism will be possible with them. To verify the effectiveness they have already been applied to some hardwares such as legged robots, multi-finger hands, and 3-D.O.F. joints. The strand-muscle robotic shoulder, SMRS, consists of a 3-D.O.F. joint and a 1-D.O.F. joint. The SMRS realizes 3-D.O.F. motions with joint stiffness control, and it is fault tolerant with redundant actuators. In this article the mechanism and control scheme of the actuators are presented, and the experimental result of link angle control is shown.

収録刊行物

• 日本機械学会関東支部総会講演会講演論文集

  日本機械学会関東支部総会講演会講演論文集 2003.9 (0), 383-384, 2003

  一般社団法人 日本機械学会

キーワード

• Strand-muscle actuator
• Antagonistic muscle
• Multi-D. O. F robot joint
• Lithe Joint

詳細情報

• CRID: 1390282680822871552
• NII論文ID: 110002497090
• DOI: 10.1299/jsmekanto.2003.9.383
• ISSN: 24242691
• Web Site: https://www.jstage.jst.go.jp/article/jsmekanto/2003.9/0/2003.9_383/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可