Modeling and system integration for a thin pneumatic rubber 3-DOF actuator

Shuhei Kawamura, Mizuki Sudani, Mingcong Deng, Yuichi Noge, Shuichi Wakimoto

研究成果: ジャーナルへの寄稿学術誌査読

7 被引用数 (Scopus)

抄録

Recently, soft actuators have been getting increased attention within various fields. The actuators are composed of flexible materials and driven by pneumatic pressure. A thin pneumatic rubber actuator generating 3 degrees of freedom motion, called 3-DOF micro-hand, has small diameter McKibben artificial muscles which generate a contraction force in the axial direction. By this structure, the micro-hand contracts in the longitudinal direction and bends in any direction by changing the applied air pressure pattern to the artificial muscles. The input-output relation of the micro-hand, however, is complicated and has not been modeled. In this paper, modeling for 3-DOF micro-hand is proposed. Moreover, the experimental system is built for the micro-hand and the proposed model is evaluated by using the experimental results.

本文言語英語
論文番号32
ジャーナルActuators
8
2
DOI
出版ステータス出版済み - 6月 1 2019
外部発表はい

!!!All Science Journal Classification (ASJC) codes

  • 制御およびシステム工学
  • 制御と最適化

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