湾曲型空気圧ゴム人工筋肉を用いた索状マニピュレータの開発と制御

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  • Development and control of cord-like manipulator using bending type pneumatic rubber artificial muscles

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<p>In this study, we are developing a cord-like manipulator using “bending type pneumatic rubber artificial muscles” (BPAM), which is a kind of soft actuator. The manipulator currently under study is composed of several units created by BPAM and connected in series. This allows the manipulator to be easily expanded. However, the low-pressure resistance performance and low stiffness of the BPAMs used have been issues. In addition, an effective control method for the unit had not been established. Therefore, we decided to use ready-made products rubber tubes and caulking methods to create the BPAM. As a result, improvements in the issues were observed. In addition, PI control and autonomous decentralized control were introduced to control the unit effectively. These control methods were found to be effective in controlling the unit.</p>

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