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Research for Artificial Muscle Manipulator using 1ms High-speed Visual Feedback

利用1ms高速视觉反馈的人工肌肉机械臂研究

基本信息

批准号：
15560231
负责人：
NAKABO Yoshihiro
金额：
$ 1.92万
依托单位：
RIKEN
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

An artificial muscle is an ionic polymer-metal composite(IPMC) which is made out of a high polymer gel film whose surface is plated with gold. Our goal is to realize bio-inspired soft robots, for example, a snake-like swimming robot or multi-degree-of-freedom(DOF) micro-robot manipulator.To realize a snake-like or a multi-DOF bending motion, we cut electrodes on the surface of the actuator in order to control each segment individually. We have developed a variety of motions from this patterned actuator including a snake-like motion. We have also proposed kinematic modeling of the manipulator which simply describes various multi-DOF motions of the artificial muscle. This model is applied to visual feedback control of the manipulator system using a Jacobian control method. For the feedback control, we have developed a visual sensing system using a 1ms high-speed vision system which has a fast enough response to capture the fast actuator motion. We have also made the device swim freely forward and backward by finding the optimal voltage, phase and frequency.On the other hand, we have investigated the bending response of an IPMC artificial muscle in high-pressure water environments, with future applications in deep-sea actuators and robots. The artificial muscles have an advantage over electric motors because they do not need sealing from water, which is difficult in high-pressure water environments. From experiments, there was found to be almost no difference with that at normal water pressure.

人工肌肉是由表面镀金的高分子凝胶膜制成的离子聚合物-金属复合材料(IPMC)。我们的目标是实现仿生软机器人，例如蛇形游泳机器人或多自由度微机器人操作手，为了实现蛇形或多自由度的弯曲运动，我们在执行器表面切割电极，以单独控制每一段。我们已经从这个图案化的致动器中开发出了各种运动，包括蛇形运动。我们还提出了机械手的运动学模型，它简单地描述了人工肌肉的各种多自由度运动。采用雅可比控制方法，将该模型应用于机械臂系统的视觉反馈控制。对于反馈控制，我们开发了一种视觉传感系统，该系统使用了一个1ms的高速视觉系统，该系统具有足够快的响应来捕捉快速的执行器运动。另一方面，我们研究了IPMC人工肌肉在高压水环境中的弯曲响应，并展望了其在深海执行器和机器人中的应用前景。与电动马达相比，人造肌肉具有优势，因为它们不需要密封在水中，而这在高压水环境中是困难的。从实验中发现，这与正常水压下的情况几乎没有区别。