MATEC Web Conf.
Volume 192, 2018The 4th International Conference on Engineering, Applied Sciences and Technology (ICEAST 2018) “Exploring Innovative Solutions for Smart Society”
|Number of page(s)||4|
|Section||Track 2: Mechanical, Mechatronics and Civil Engineering|
|Published online||14 August 2018|
Improvement of dynamic characteristics of manipulator driven by a gas-liquid phase-change actuator using an antagonistic drive
Department of Intelligent Mechanical Engineering, Faculty of Engineering, Fukuoka Institute of Technology, Fukuoka, Japan
2 Monozukuri Department, Tokyo Metropolitan College of Industrial Technology, Tokyo, Japan
Corresponding author : email@example.com
The goal of this research is to improve the dynamic characteristics of a manipulator composed of pneumatic artificial rubber muscles driven by gas-liquid phase change. Pneumatic actuators, such as pneumatic artificial rubber muscle (PARM) or rubber bellows, have been widely used in many industrial and research fields. They have merits of being compact and lightweight. However, the large size of the compressor driving the actuator is a problem. To overcome this, the authors researched soft actuators driven by the gas-liquid phase change (GLPC) of fluorocarbon. Fluorocarbon (C5F11NO) is a substance with a relatively low boiling point (50 °C) and a low heat of evaporation (104.65 kJ/kg). The heat of evaporation of water is 2260 kJ/kg. This paper presents the overview of an actuator driven by GLPC. Then, fabrication of a manipulator using the GLPC driven PARM, and details of experiments conducted to determine manipulator characteristics are given. To improve the dynamic characteristics of the manipulator, a force control method using the antagonistic drive of two PARMs is proposed, and experiments are conducted to validate the effectiveness of the proposed method.
© The Authors, published by EDP Sciences, 2018
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