A new type of pneumatic robot using bellows actuators with force sensing ability
A new type of pneumatic robot using bellows actuators with force sensing ability
复制标题
一种新型气动机器人，采用具有力传感能力的波纹管执行器
DOI：
--
复制
发表时间：
1994
期刊：
影响因子：
--
通讯作者：
Y. Hayakawa
中科院分区：
文献类型：
--
作者：
S. Kawamura;Y. Hayakawa
在气动波纹管执行器的情况下，由于没有产生摩擦的滑动部分，因此可以轻松准确地从波纹管腔内的压力中测量外力。因此，波纹管可以作为力传感执行器，同时作为传感器和执行器。我们设计了一个由两个波纹管驱动器拮抗激活的机器人关节。从一些实验结果中，我们揭示了所提出的机器人的静态和动态特性，并证实了它可以利用力传感能力灵活地跟随外力移动
In the case of pneumatic bellows actuators, the external forces are easily and exactly measured from the pressure in the chamber of bellows because there is no sliding part which generates friction. Therefore, the bellows can be utilized as a force sensing actuator which works as a sensor and an actuator simultaneously. We design one joint of a robot which is activated by the two bellows actuators antagonistically. From some experimental results we disclose the static and dynamic characteristics of the proposed robot and confirm that it can move flexibly following external forces by making use of the force sensing ability.<<ETX>>