Abstract
| Original language | Japanese |
|---|---|
| Pages (from-to) | 2A1-B06 |
| Journal | ロボティクス・メカトロニクス講演会講演概要集 |
| Volume | 2017 |
| Issue number | 0 |
| DOIs | |
| Publication status | Published - 2017 |
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誘電エラストマーアクチュエータを用いた１自由度マニピュレータの位置・力制御. / 久保田洋輝; 田原健二.
In: ロボティクス・メカトロニクス講演会講演概要集, Vol. 2017, No. 0, 2017, p. 2A1-B06.Research output: Contribution to journal › Article
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TY - JOUR
T1 - 誘電エラストマーアクチュエータを用いた１自由度マニピュレータの位置・力制御
AU - 久保田, 洋輝
AU - 田原, 健二
PY - 2017
Y1 - 2017
N2 - Recently, soft actuators have been paid attention to make robots lighter and more flexible than especially present industrial robots. Above all, the dielectric elastomer actuator is useful for the robot because of its relatively high output force and voltage driving. However, the dielectric elastomer actuator has several drawbacks that its stroke is small, and a characteristic that is extended when inputting a voltage. In this paper, by combining a joint system driven by antagonistic dielectric elastomer actuators and four-bar linkage, a 1 DOF manipulator which a has large range of motion is developed. In addition, the joint angle and force controllers of this manipulator are introduced, and those performance is verified experimentally.
AB - Recently, soft actuators have been paid attention to make robots lighter and more flexible than especially present industrial robots. Above all, the dielectric elastomer actuator is useful for the robot because of its relatively high output force and voltage driving. However, the dielectric elastomer actuator has several drawbacks that its stroke is small, and a characteristic that is extended when inputting a voltage. In this paper, by combining a joint system driven by antagonistic dielectric elastomer actuators and four-bar linkage, a 1 DOF manipulator which a has large range of motion is developed. In addition, the joint angle and force controllers of this manipulator are introduced, and those performance is verified experimentally.
U2 - 10.1299/jsmermd.2017.2A1-B06
DO - 10.1299/jsmermd.2017.2A1-B06
M3 - 記事
VL - 2017
SP - 2A1-B06
JO - ロボティクス・メカトロニクス講演会講演概要集
JF - ロボティクス・メカトロニクス講演会講演概要集
IS - 0
ER -