Development of Flexible Pneumatic Cylinder with Built-in Flexible Linear Encoder and Flexible Bending Sensor
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- AKAGI Tetsuya
- Department of Intelligent Mechanical Engineering, Okayama University of Science
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- DOHTA Shujiro
- Department of Intelligent Mechanical Engineering, Okayama University of Science
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- MATSUSHITA Hisashi
- Department of Intelligent Mechanical Engineering, Okayama University of Science
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- FUKUHARA Akimasa
- Chikusui Canycom Inc.
抄録
The purpose of this study is to develop a lightweight and intelligent soft actuator which can be safely attached to the human body. A novel flexible pneumatic cylinder that can be used even if it is deformed by external force had been proposed. The cylinder can realize both pushing and pulling motions even if the cylinder bends. In this paper, a flexible pneumatic cylinder with a built-in flexible linear encoder is proposed and tested. The encoder can detect the cylinder displacement even if the cylinder bends. In the next step, to realize an intelligent flexible cylinder, it is essential to recognize the angle of deflection of the cylinder to estimate the direction of the external force. Therefore, a flexible bending sensor that can measure the directional angle by attaching it to the end of the cylinder is also proposed and tested. The tested bending sensor also consists of four inexpensive photo-reflectors set on the circumferential surface to the cylinder tube every 90 degrees from the center of the tube. By measuring the distance between the photo reflector and the surface of the tube at each point, the bending directional angle of the cylinder can be obtained. A low cost measuring system using a micro-computer incorporating a programmed Up/Down counter to measure the displacement of the cylinder is also developed. As a result, it was confirmed that the measuring accuracy of the bending directional angle was good, less than 0.7 degrees as a standard deviation.
収録刊行物
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- Journal of System Design and Dynamics
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Journal of System Design and Dynamics 6 (4), 359-372, 2012
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205272416000
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- NII論文ID
- 130002100221
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- BIBCODE
- 2012JSDD....6..359A
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- ISSN
- 18813046
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
- KAKEN
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- 使用不可