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首页> 外文期刊>Advanced Robotics: The International Journal of the Robotics Society of Japan >Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube
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Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube

机译：一根气管产生双向运动的微型气动卷曲橡胶执行器

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摘要

Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.
机译：由气压驱动的软促动器是医疗，生物，农业，福利领域等机械系统中很有希望的促动器，因为它们可以通过低机械阻抗确保易碎物品的高安全性。在这项研究中，开发了一种由硅橡胶制成的新型橡胶气动执行器。它由一个腔室和一个供气管组成，通过使用正负气压可以在两个方向上产生卷曲运动。用于产生双向运动的橡胶致动器经过设计，可通过非线性有限元方法分析获得有效的形状，并使用准分子光通过模压和橡胶粘合工艺制成。所制造的致动器能够成功地在两个方向上产生卷曲运动。执行器的位移和力特性通过使用运动捕捉系统和测力传感器进行测量。作为执行器的示例应用，构建了具有三个执行器的机器人软手，并通过实验证实了其有效性。

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