Development of Electro-Rheological-Fluid Actuators for Driving Artipicial Muscle

开发用于驱动人工肌的电流变流体致动器

基本信息

  • 批准号:
    07555404
  • 负责人:
  • 金额:
    $ 0.7万
  • 依托单位:
  • 依托单位国家:
    日本
  • 项目类别:
    Grant-in-Aid for Scientific Research (B)
  • 财政年份:
    1995
  • 资助国家:
    日本
  • 起止时间:
    1995 至 1996
  • 项目状态:
    已结题

项目摘要

(1) A new method has been devised for obtaining an arbitrary pressure for driving an artificial muscle by controlling the electric field intensity applied to the electro-rheological-fluid. The characteristic of this method lies in that the necessary pressure is generated at the intermediate pressure port by changing the perssure drops based on the shear stress changes in the upper and lower pipes. The relationships among the pressure drops, the flow rate and the shear stress changes, and the equations expressing the pressure response to the electric field application were theoretically derived and compared with the experimental results. The applications of the electric field of pulse-type (digital) variation as well as the linear (analog) control showed that both methods generate the necessary pressure. It was experimentally confirmed that the artificial muscle, if mounted at the middle port, can be driven smoothly even under the alternate voltage field application. Furthermore, the po … More ssibility of driving the fingers independently to each other was examined when the fewer electrodes were used, and this method was proved to be practically applicable.(2) In the next place, the defects of artificial fingers have been improved. The finger is provided with the tactile sense by using a coil-like sensor similar to human's fingerprints. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human's bone. A prototype robot hand with four fingers has been manufactured and mounted on an industrial articulated robot. The effectiveness of these robot hand fingers was confirmed throughout the experimental tests of grasping action.(3) A new type of pump hs been developed which effectively uses the electric characteristics of electro-rheological-fluids whose apparent viscosities are changed by the application of voltage. This pump is consisted of the simple flow passage between a pair of rotating opposed disks ; however, can feed the ER-fluids which comprise relatively large dispersed particles and have large viscosities. The principle and configuration of this pump and t;he method of theoretical analysis are described. The pump characteristics such as flow rate, pressure, and the variation of plug-type flow region are examined. It is indicated that this pump is effective not only for the use as a pump but also for the measurements of physical values of the shear stress induced by electric field and the viscosity. Less
(1)提出了一种通过控制施加在电流变液上的电场强度来获得驱动人工肌肉的任意压力的新方法。该方法的特点在于,根据上下管中的剪应力变化,通过改变压力降,在中压口处产生所需的压力。从理论上推导了压力降、流量和剪切应力变化之间的关系,以及压力对电场作用的响应方程,并与实验结果进行了比较。脉冲型(数字)变化的电场以及线性(模拟)控制的应用表明,这两种方法产生必要的压力。实验证实,人工肌肉,如果安装在中间端口,可以顺利地驱动,即使在交流电压场的应用。此外,PO ...更多信息 当使用较少的电极时,检验了彼此独立地驱动手指的可能性,并且该方法被证明是实用的。(2)其次,改善了人造手指的缺陷。通过使用类似于人的指纹的线圈状传感器来为手指提供触觉。通过为手指配备类似于人骨的增强材料来增强刚度。一个原型的机器人手与四个手指已经制造和安装在工业关节型机器人。这些机器人手指的有效性在整个抓取动作的实验测试中得到了证实。(3)利用电流变液的电特性,研制了一种新型的泵,电流变液的表观粘度随电压的变化而变化。该泵由一对旋转的相对盘之间的简单流动通道组成;然而,可以供给包括相对大的分散颗粒并且具有大粘度的ER流体。介绍了该泵的原理、结构和理论分析方法。研究了泵的流量、压力等特性以及柱塞流区的变化规律。结果表明,该泵不仅可作为泵使用,而且可用于测量电场引起的剪切应力和粘度的物理量。少

项目成果

期刊论文数量(20)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
田中豊,五福明夫,水野義教: "電気粘性流体ポンプの開発" 日本機械学会中国四国支部講演会. No.955-2. 243-244 (1995)
Yutaka Tanaka、Akio Gofuku、Yoshinori Mizuno:“电流变流体泵的开发”日本机械工程师学会中国四国分会讲座第 955-244 号(1995 年)。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
  • 作者:
  • 通讯作者:
Y.Tanaka,A.Gofuku: "Development and Analysis of an ERF Pressure Control Valve" Int.J.of Mechatronics. (掲載予定).
Y.Tanaka、A.Gofuku:“ERF 压力控制阀的开发和分析”Int.J.of Mechatronics(即将出版)。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
  • 作者:
  • 通讯作者:
田中 豊,五福明夫: "人工筋肉駆動用ER流体アクチュエータの応答性に関する研究" 日本機械学会中国四国支部講演会講演論文集. No.955-2. 227-228 (1995)
Yutaka Tanaka、Akio Gofuku:“用于驱动人造肌肉的 ER 流体致动器的响应性研究”日本机械工程师学会中国-四国分会会议记录第 955-228 号(1995 年)。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
  • 作者:
  • 通讯作者:
田中豊,五福明夫,水野義教: "電気粘性流体の開発と駆動方法の検討" 日本機械学会ロボティクスメカトロニクス講演会'96講演論文集. Vol.B. 1523-1524 (1996)
Yutaka Tanaka、Akio Gofuku、Yoshinori Mizuno:“电流变流体的开发和驱动方法的研究”日本机械工程师学会机器人和机电一体化会议96卷1523-1524(1996年)。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
  • 作者:
  • 通讯作者:
Yutaka Tanaka: "Development of a Tactile Sensing Flexible Actuator" Proc.1996 4th Int.Workshop on Advanced Motion Control.Vol.2. 723-729 (1996)
Yutaka Tanaka:“触觉传感柔性执行器的开发”Proc.1996 第 4 届高级运动控制国际研讨会.Vol.2。
  • DOI:
  • 发表时间:
  • 期刊:
  • 影响因子:
    0
  • 作者:
  • 通讯作者:
{{ item.title }}
{{ item.translation_title }}
  • DOI:
    {{ item.doi }}
  • 发表时间:
    {{ item.publish_year }}
  • 期刊:
  • 影响因子:
    {{ item.factor }}
  • 作者:
    {{ item.authors }}
  • 通讯作者:
    {{ item.author }}

数据更新时间:{{ journalArticles.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ monograph.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ sciAawards.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ conferencePapers.updateTime }}

{{ item.title }}
  • 作者:
    {{ item.author }}

数据更新时间:{{ patent.updateTime }}

TANAKA Yutaka其他文献

歴史学者と読む高校世界史ー教科書記述の舞台裏(分担執筆:「高校世界史教科書の中・東欧記述」)
和历史学家一起读高中世界史:教科书描述的幕后花絮(合着:《高中世界史教科书中对中东欧的描述》)
  • DOI:
  • 发表时间:
    2018
  • 期刊:
  • 影响因子:
    0
  • 作者:
    伊藤 悟;鵜川義弘;齋藤有季;久島 裕;TANAKA Yutaka;中澤達哉
  • 通讯作者:
    中澤達哉

TANAKA Yutaka的其他文献

{{ item.title }}
{{ item.translation_title }}
  • DOI:
    {{ item.doi }}
  • 发表时间:
    {{ item.publish_year }}
  • 期刊:
  • 影响因子:
    {{ item.factor }}
  • 作者:
    {{ item.authors }}
  • 通讯作者:
    {{ item.author }}

{{ truncateString('TANAKA Yutaka', 18)}}的其他基金

An empirical study on the background of the establishment of Kashima and Katori "Shingun" by the Landscape Archaeology
景观考古学对鹿岛、香取“真君”建立背景的实证研究
  • 批准号:
    18K01057
  • 财政年份:
    2018
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Research of the village area and hierarchical composition in the Kofun period - Quantitative analysis in East Kanto-
古坟时代村落面积及阶层构成研究-关东东部的定量分析-
  • 批准号:
    26370890
  • 财政年份:
    2014
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Elimination of Bubble from Working Oil for Powerful Fluid Power System
强力流体动力系统工作油中气泡的消除
  • 批准号:
    26420086
  • 财政年份:
    2014
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Fundamental study on the modulation mechanism of orofacial pain by the taste and olfactory sensations and its application to clinical use.
味觉、嗅觉调节口面部疼痛机制的基础研究及其临床应用。
  • 批准号:
    24593053
  • 财政年份:
    2012
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Study on Micro Fluid Power Module Using Functional Fluid
使用功能液的微流体动力模块研究
  • 批准号:
    22560256
  • 财政年份:
    2010
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Archaeological and historical studies of the political facilities in Hitachi province from the 7th century to the 8th century
7世纪至8世纪日立国政治设施的考古和历史研究
  • 批准号:
    22520760
  • 财政年份:
    2010
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Sensitivity analysis and variable selection in statistical models
统计模型中的敏感性分析和变量选择
  • 批准号:
    16500175
  • 财政年份:
    2004
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Influence diagnostics in statistical data analysis
统计数据分析中的影响诊断
  • 批准号:
    13680374
  • 财政年份:
    2001
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)
Research of the High-Speed Fusion of Disparity Images from Two Orthogonal Stereo Pairs
两正交立体视差图像高速融合研究
  • 批准号:
    11450104
  • 财政年份:
    1999
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (B).
Diagnostics in Statistical Methods for Multivariate Data including Longitudinal and Spatial Data
包括纵向和空间数据在内的多变量数据统计方法的诊断
  • 批准号:
    10680316
  • 财政年份:
    1998
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Grant-in-Aid for Scientific Research (C)

相似海外基金

Advanced AI and RobotIcS for autonomous task pErformance
先进的人工智能和机器人控制系统可实现自主任务执行
  • 批准号:
    10110390
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    EU-Funded
Reverse Design of Tuneable 4D Printed Materials for Soft Robotics
用于软体机器人的可调谐 4D 打印材料的逆向设计
  • 批准号:
    DE240100960
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Discovery Early Career Researcher Award
CAREER: Democratizing Robot Learning for Assistive Robotics in MCI
职业:MCI 辅助机器人的机器人学习民主化
  • 批准号:
    2340177
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Continuing Grant
CAREER: Manufacturing of Solid Particle-Liquid Metal Mixtures for Soft Robotics and Stretchable Electronics
职业:制造用于软机器人和可拉伸电子产品的固体颗粒-液体金属混合物
  • 批准号:
    2339780
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Standard Grant
REU Site: Undergraduate Robotics Research for Rural Appalachia
REU 网站:阿巴拉契亚农村地区本科生机器人研究
  • 批准号:
    2348288
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Standard Grant
Human-centric Digital Twin Approaches to Trustworthy AI and Robotics for Improved Working Conditions
以人为本的数字孪生方法,实现值得信赖的人工智能和机器人技术,以改善工作条件
  • 批准号:
    10109582
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    EU-Funded
CAREER: Integrating Robotics and Socio-emotional Learning for Incarcerated Middle School Students
职业:将机器人技术与被监禁中学生的社会情感学习相结合
  • 批准号:
    2404954
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Continuing Grant
MyTurn: An Afterschool Social Robotics Program to Promote Interest in Computing Among Middle School Students
MyTurn:一个课后社交机器人项目,旨在提高中学生对计算的兴趣
  • 批准号:
    2342099
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Standard Grant
Agricultural Robotics and Automation Technologies
农业机器人及自动化技术
  • 批准号:
    2348815
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Standard Grant
Hybrid Robotics for Future Reconfigurable Manufacturing
用于未来可重构制造的混合机器人
  • 批准号:
    2905321
  • 财政年份:
    2024
  • 资助金额:
    $ 0.7万
  • 项目类别:
    Studentship
{{ showInfoDetail.title }}

作者:{{ showInfoDetail.author }}

知道了