Basic Characteristics on New Type Actuator that an Antagonized Bellows is Connected to Tip of a Pneumatic Cylinder Rod and Application to a Care Machinery

在这项研究中，我们提出了一种新型的执行器(气缸-波纹管执行器)，它是将一个对抗性的波纹管执行器连接到气动气缸杆的顶端。此外，通过一些实验结果，明确了气缸-波纹管执行器的基本特性。在执行器的定位控制方面，我们证实了执行器可以很容易地实现精确定位。这是因为波纹管执行器没有滑动部件。因此，即使在气缸由于滑动部件的摩擦力而停止时，波纹管也可以驱动。此外，执行器还可以利用波纹管的力传感能力实现灵活的运动。因此，我们将该驱动器应用于老年人转载机的直接驱动机构中。传送机的机构由两个机械部件组成。它们是用两个波纹管作动器实现的旋转部分和用气缸-波纹管作动器实现的直线运动部分。此外，在气缸-波纹管致动器的对抗性波纹管致动器的输出杆上安装有用于人的支撑部。使用该机器的转移过程分为三种模式。第一个过程是手动设置模式，第二个过程是转移辅助模式。第三种是静态停止模式。在手动设定模式下，利用波纹管执行器的力感应能力，可以自由调整支撑部的位置。在转移辅助模式下，当使用机器的人在滴落支架的同时向前弯曲时，转移机器开始自动驱动。此外，当人移动支架时，机器可以自动产生自适应的转移轨迹，在静态停止模式下，通过切换转移辅助模式，转移机器可以在任意位置停止。

In this study, we suggested a new type actuator (a Cylinder-Bellows Actuator) which an antagonized bellows actuator is connected to tip of a pneumatic cylinder rod. Furthermore, the basic characteristics of the Cylinder-Bellows actuator was made clear from some experimental results. With respect to the positioning control of the actuator, we confirmed that the actuator can easily realize fine positioning. This is because that the bellows actuator has no sliding parts. Therefore, the bellows can drive even if the cylinder stop because of friction forces at the sliding parts. Moreover, it is possible for the actuator to realize a flexible motion by using force sensing ability of the bellows. Thus, we applied the actuator to a direct drive mechanism of a human transfer machine for elderly people. The mechanism of the transfer machine is constructed with two mechanical parts. Those are a rotational part by using two bellows actrators and a straight line motion part by using the cylinder-bellows actuator. Moreover, a support part for a person is attached to the output bar of the antagonized bellows actuator of the cylinder-bellows actuator. The transfer process by using the machine is divided into three mode. The first process is manual setting mode and the second is transfer assist mode. The third is static stop mode. In the manual setting mode, we can adjust the position of the support part freely by using force sensing ability of the bellows actuator. In the transfer assist mode, when the person who use the machine bend forward while dripping the supporter, the transfer machine start to drive automatically. Furthermore, the machine can generate an adaptive transfer trajectory by itself as the person move the supporter, In the static stop mode, the transfer machine can stop at an arbitrary position by swiching off the transfer assist mode.