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

研究成果: Contribution to journalArticle

抄録

<p>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.</p>
寄稿の翻訳タイトルPosition and Force Control of 1 DOF Manipulator driven by Dielectric Elastomer Actuators
本文言語日本語
ページ(範囲)2A1-B06
ジャーナルロボティクス・メカトロニクス講演会講演概要集
2017
0
DOI
出版ステータス出版済み - 2017

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