Development of a Rodless Type Flexible Pneumatic Cylinder and Its Application
Development of a Rodless Type Flexible Pneumatic Cylinder and Its Application
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无杆式柔性气缸的研制及其应用
DOI：
10.1299/kikaic.73.2108
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
S. Dohta
中科院分区：
文献类型：
--
作者：
T. Akagi;S. Dohta
目前的虚拟现实系统还不足以实现手、手臂、腿等的力反馈系统。此外，由于日本社会老龄化和少子化，老年人的护理问题日益突出。因此，有必要开发辅助护理的系统。此类系统所需的执行器需要具有灵活性，以免伤害人体。我们研究的目的是开发一种灵活且轻便的执行器，可以足够安全地安装在人体上。在本文中，我们提出并测试了无杆式柔性气缸。气缸由作为气缸或杆的柔性管、作为活塞的钢球以及具有球和滚子的硬铝滑动台组成。我们研究了被测气缸的特性。我们还将测试的气缸用作主从机器人手臂的旋转执行器。结果发现，被测油缸在无供给压力的情况下具有“定位自保持功能”。我们证实，所测试的气缸可用作可穿戴执行器，具有灵活性、重量轻和更容易定位的优点。
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 required for such systems, 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 paper, we proposed and tested rodless type of flexible pneumatic cylinder. The cylinder consists of a flexible tube as a cylinder or rod, steel balls as a piston and a duralumin slide stage that has balls and rollers. We investigated the characteristics of the tested cylinder. We also applied the tested cylinder as a rotary actuator of master-slave robot arm. As a result, we found that the tested cylinders had a “self holding function for positioning” under condition of no supply pressure. We confirmed that the tested cylinder was useful to apply as a wearable actuator with the advantages of flexibility, lightweight and easier positioning.