DEVELOPMENT OF A FLEXIBLE PNEUMATIC ACTUATOR WITH A FLEXIBLE TUBE

DEVELOPMENT OF A FLEXIBLE PNEUMATIC ACTUATOR WITH A FLEXIBLE TUBE
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具有柔性管的柔性气动执行器的开发

DOI：
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发表时间：
2001
期刊：
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影响因子：
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通讯作者：
T. Tani
T. Tani
中科院分区：
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文献类型：
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作者：
T. Akagi;S. Dohta;T. Tani

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近年来，虚拟现实系统作为一种交互式信息技术得到了蓬勃发展。然而，目前的虚拟现实系统还不足以实现手、臂、腿等的力反馈系统。此外，由于日本社会的老龄化和出生率下降，为老年人提供护理的问题日益严重。因此，有必要开发系统来帮助护理。这种反馈系统所需的致动器，如老年人的动力辅助护理，需要是柔性的，以便不伤害人体。我们的研究目的是开发一种柔性和轻量化的致动器，可以安全地安装在人体上。在这项研究中，我们提出了一种新型的柔性气动执行器，可以使用，即使致动器是由外力变形。我们测试了两种类型的柔性气缸。一种类型使用橡胶球，另一种类型使用Y型密封圈来密封气缸盖。弹性气缸由作为气缸的软管和由橡胶球和垫圈组成的弹性气缸头组成。本文研究了弯曲圆柱管产生的力与供给压力的关系。建立了驱动器的分析模型，并确定了驱动器的系统参数，为驱动器的设计提供了依据，验证了所研制的柔性气缸具有柔性、轻量化和大的力重比等优点，是一种很好的可安装在人体上的驱动器。
Recently, virtual reality systems have been flourishing as an interactive information technology. However, current virtual reality systems are not enough to realize a force feedback system for hands, arms, legs and so on. Furthermore, due to the ageing in Japanese society and the decreasing birthrate, an increasing problem of providing nursing care for the elderly has occurred. As a result, it is necessary to develop systems to aid in nursing care. The actuators necessary for such a feedback system, as for power assisted nursing care of the elderly, need to be flexible so as not to injure the human body. The purpose of our study is to develop a flexible and lightweight actuator which can be safe enough to be mounted on the human body. In this study, we propose a new type of flexible pneumatic actuator that can be used even if the actuator is deformed by external force. We tested two types of flexible pneumatic cylinder. One type uses rubber balls and the other type uses Y-ring type gaskets to seal the cylinder head. The elastic pneumatic cylinder consists of a flexible tube as a cylinder and an elastic cylinder head consisting of rubber balls and gaskets. We investigated the relation between generated force and supply pressure for the bent cylinder tube. And we proposed the analytical model of the actuator and identified system parameters of the actuator in order to design it. As a result, we confirmed that the tested flexible pneumatic cylinder was very useful to be applied as an actuator that can be set on the human body with advantages of flexibility, lightweight and large ratio of the generated force to weight.