Establishment of fabrication process for smart artificial muscles with the inductance sensor
Establishment of fabrication process for smart artificial muscles with the inductance sensor
复制标题
电感传感器智能人工肌肉制作工艺的建立
DOI：
10.5739/jfps.51.25
复制
发表时间：
2020
期刊：
影响因子：
--
通讯作者：
Katsunori Ando
中科院分区：
文献类型：
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作者：
Sota Kogawa;S. Wakimoto;T. Kanda;K. Omura;Katsunori Ando
McKibben人工肌肉是一种柔性驱动器，由橡胶管和增强纤维套管组成，具有柔性和轻量化的特点。为了增加McKibben人工肌肉的便利性，需要将传感器功能附加到人工肌肉。然而，一般的刚性传感器阻碍了McKibben人工肌肉的优势。因此，已经开发出集成有传感器的智能人工肌肉。在本文中，我们描述了制造方法的人造肌肉有漆包线形成线圈形状，并作为驱动和位移传感器的增强纤维。当人工肌肉被驱动时，由于线圈的形状改变，因此可以通过测量线圈的电感来估计人工肌肉的位移。提出了利用编织机制作智能人工肌肉的工艺流程。通过该制造工艺，可以改变增强纤维的编织角度，并且可以通过相同的工艺制造具有传感器功能的收缩型和伸展型人造肌肉。此外，在收缩型智能人工肌肉上，为了增加传感器输出，使用磁性流体作为工作流体。
The McKibben artificial muscle, which is one of soft actuators and consists of a rubber tube and a sleeve of reinforcement fibers, has the features of flexibility and lightweight. For increasing the convenience of the McKibben artificial muscle, attaching the sensor function to the artificial muscle is required. However, general rigid sensors hinder the advantage of the McKibben artificial muscle. Therefore, smart artificial muscles integrated with sensors have been developed. In this paper, we describe the fabrication method of artificial muscles having enameled wires forming coiled-shape and working as both reinforcement fibers for actuation and a displacement sensor. When the artificial muscle is driven, since the shape of the coil changes, the displacement of the artificial muscle can be estimated by measuring the inductance of the coil. The fabrication process of the smart artificial muscles using a braiding machine is proposed. By this fabrication process, it is possible to change the braiding angle of the reinforcement fibers, and both the contraction-type and the extension-type artificial muscles with the sensor function can be manufactured by the same process. In addition, on the contraction-type smart artificial muscle, for increasing the sensor output, magnetic fluid is used as the working fluid.