Large force actuator using an electro-adhesive gel super multi-disk
Large force actuator using an electro-adhesive gel super multi-disk
复制标题
DOI：
10.1080/01691864.2022.2117573
复制
发表时间：
2022-09
影响因子：
2
通讯作者：
K. Koyanagi;Yudai Takata;Y. Kakinuma;H. Anzai;K. Sakurai;T. Oshima
中科院分区：
文献类型：
--
作者：
K. Koyanagi;Yudai Takata;Y. Kakinuma;H. Anzai;K. Sakurai;T. Oshima
具有离合机构的驱动器在人类共存机器人的安全性、可反向驱动性和可控性方面具有优势。本文提出了一种大的力驱动器使用电粘附凝胶，这是一种功能材料的大小的电场控制。所开发的致动器可以产生并连续控制超过560 N的力，并在断电时以较小的力抵抗。电粘附凝胶盘的数量急剧增加以增加生成力。本文介绍了这种新型驱动器的结构方案，并对其基本特性进行了实验研究。基于实验结果，确定了执行器模型，为未来的控制系统设计。本文致力于开发一种具有大产生力、保持安全性和高力重比的离合器式线性致动器。它还解决了电流变和电粘附材料的高压电源成本的问题。图形摘要
Actuators with clutch mechanisms have advantages in safety, backdriveability, and controllability for human-coexistence robots. This paper presents a large force actuator using electro-adhesive gels, which are functional materials controlled by the magnitude of an electric field. The developed actuator can generate and continuously control a force over 560 N and resist with a small force when de-energized. The number of electro-adhesive gel disks is drastically increased to increase the generative force. This paper reports the structural plan for the new actuator and experiments to investigate its basic characteristics. Based on the experimental results, an actuator model is identified for the future design of its control system. This paper contributes to the development of a clutch-type linear actuator with a large generative force, maintaining safety and a high force-to-weight ratio. It also addresses the problem of high-voltage power supply costs for electro-rheological and electro-adhesive materials. GRAPHICAL ABSTRACT