Development of a 6-DOF manipulator actuated with a straight-fiber-type artificial muscle
Development of a 6-DOF manipulator actuated with a straight-fiber-type artificial muscle
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开发直纤维型人工肌肉驱动的六自由度机械手
DOI：
10.1109/iros.2009.5354694
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Taro Nakamura
中科院分区：
文献类型：
--
作者：
H. Maeda;H. Nagai;Taro Nakamura
机器人已经成为人类生活中不可或缺的一部分，人类与机器人的关系也越来越密切。因此，期望机器人具有与人类相似的特征。在这种情况下，我们注意到人工肌肉执行器。我们使用了直纤维型人造肌肉，来自McKibben型，其在收缩率和力方面具有优异的特性。研制了一种由直纤维人工肌肉驱动的六自由度机械臂。此外，我们试图控制机械手的位置，通过考虑其特性。
Robots have become an integral part of human life, and the relationship between humans and robots has grown closer. Thus, it is desired that robots have characteristics similar to humans. In this context, we paid attention to an artificial muscle actuator. We used straight-fiber-type artificial muscles, derived from the McKibben type, which have excellent characteristics with respect to the contraction rate and force. We developed a 6-DOF manipulator actuated by a straight fiber artificial muscle. Furthermore, we tried to control the manipulator position by considering its characteristics.