A Realization of Force Transmission Mechanism in Multi-Degrees-of-Freedom Nonlinear Acuator

近年来，工业机器人在多个工业领域取得了令人瞩目的进展。然而，目前工业机器人的运动还不够灵活，不能根据期望的任务实现自适应运动。为了改善这一问题，有必要开发驱动机器人的执行器的新技术。本研究的目的是研制一种柔性、紧凑、轻便的新型驱动器，该驱动器具有由一系列小型驱动器组成的结构。然后，执行器的数量越多，运动的自由度就越多。在这种情况下，随着基本致动器数量的增加，致动系统的尺寸变得更大。最近半导体技术的进步使制造各种微结构成为可能。这意味着利用微机械加工技术制造出具有多自由度运动的单元驱动器。在本研究中，我们提出了多自由度(MDOF)执行器中的一个元件--梳状执行器的制作方法和优化结构。所提出的多自由度作动器为分散式作动系统。这是多自由度执行器与传统的直流电机等集中式执行机构的主要区别，在由多自由度执行器构成的系统中，很难对各个执行器进行独立控制。在这里，我们展示了一种通过一系列执行器传输控制信号的控制策略。然后介绍了基于非线性格点理论的力控制器。在所提出的非线性系统中，可以通过执行器线路传输稳定的力脉冲。为了验证所提出的多自由度驱动系统控制策略的有效性，对位置反馈控制进行了仿真。

Recently industrial robot has made remarkable progress in several industrial fields. However the motion of present industrial robot is not flexible enough to realize the adaptive motion according to the desired task. To improve this problem, it is necessary to develop the novel technology of actuator which drives the robot. The purpose of this study is to develop a new actuator which is flexible, compact, light.The actuator proposed in this study has the structure which consists of a series of small actuators. Then, the larger the number of actuator is, the more the degrees-of-freedom motion increases. In this case, dimensions of the actuating system become large as the number of elemental actuators increases. Recent progress of semiconductor technology makes it possible to fabricate various microstructure. This means that an elemental actuator, which has the multi-degrees-of-freedom motion, is fabricated by using micromachining technology. In the study, we propose the fabrication method and the optimal structure of the comb-shaped actuator which is an element of Multi-Degrees-Of-Freedom (MDOF) actuator. The proposed MDOF actuator is the decentralized actuating system. This is the main difference between the MDOF actuator and the conventional actuator such as DC motor which is the centralized actuating system.In the system constructed by MDOF actuator, it is difficult to control each actuator independently. Here we show a control strategy which transmits control signals through a series of actuators. Then force controller based on the nonlinear lattice theory is also introduced. In the proposed nonlinear system, it makes possible to transmit stable force pulses through the line of actuators. To confirm the validity of the proposed control strategy of the MDOF actuating system, the position feedback control is simulated.