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首页> 外文期刊>Smart Materials & Structures >Musclelike joint mechanism driven by dielectric elastomer actuator for robotic applications
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Musclelike joint mechanism driven by dielectric elastomer actuator for robotic applications

机译：由介电弹性体致动器驱动的肌肉状接合机构，用于机器人应用

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摘要

The purpose of this study is to develop an artificial muscle actuator suitable for robotic applications, and to demonstrate the feasibility of applying this actuator to an arm mechanism, and controlling it delicately and smoothly like a human being. To accomplish this, we perform the procedures that integrate the soft actuator, called the single body dielectric elastomer actuator, which is very flexible and capable of high speed operation, and the displacement amplification mechanism called the sliding filament joint mechanism, which mimics the sliding filament model of human muscles. In this paper, we describe the characteristics and control method of the actuation system that consists of actuator, mechanism, and embedded controller, and show the experimental results of the closed-loop position and static stiffness control of the robotic arm application. Finally, based on the results, we evaluate the performance of this application.
机译：本研究的目的是开发适用于机器人应用的人造肌致动器，并证明将该致动器施加到臂机构的可行性，并像人一样控制它。 为实现这一目标，我们执行集成软致动器的程序，称为单体介电弹性体致动器，该致动器非常柔韧，能够高速运行，以及称为滑动细丝接头机构的位移放大机构，其模仿滑动丝 人体肌肉模型。 在本文中，我们描述了由致动器，机构和嵌入式控制器组成的致动系统的特性和控制方法，并显示了机器人臂应用的闭环位置和静态刚度控制的实验结果。 最后，根据结果，我们评估了本申请的性能。

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  • 来源
    《Smart Materials & Structures》 |2018年第7期|共12页
  • 作者

    Jung Ho Sang; Cho Kyeong Ho; Park Jae Hyeong; Yang Sang Yul; Kim Youngeun; Kim Kihyeon; Canh Toan Nguyen; Hoa Phung; Phi Tien Hoang; Moon Hyungpil; Koo Ja Choon; Choi Hyouk Ryeol;

  • 作者单位

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

    Sungkyunkwan Univ Dept Mech Engn Chunchon Dong 300 Suwon 440746 Gyeonggi South Korea;

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  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 智能材料;
  • 关键词

    bio-inspired mechanism; artificial muscle; soft actuator; dielectric elastomer; robotic arm;

    机译：生物启发机制;人工肌肉;软执行器;介电弹性体;机器人手臂;

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