Self propulsive soft manipulator driven and controlled by fluid power capable of three dimensional motion

Research Project

Project/Area Number	15K05922
Research Category	Grant-in-Aid for Scientific Research (C)
Allocation Type	Multi-year Fund
Section	一般
Research Field	Intelligent mechanics/Mechanical systems
Research Institution	University of Tsukuba
Principal Investigator	Date Hisashi 筑波大学, システム情報系, 准教授 (50531985)
Co-Investigator(Renkei-kenkyūsha)	OHYA Akihisa 筑波大学, システム情報系, 教授 (30241798)
Research Collaborator	HIHARA Kotaro
Project Period (FY)	2015-04-01 – 2018-03-31
Project Status	Completed (Fiscal Year 2017)
Budget Amount *help	¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000) Fiscal Year 2017: ¥390,000 (Direct Cost: ¥300,000、Indirect Cost: ¥90,000) Fiscal Year 2016: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000) Fiscal Year 2015: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords	柔軟マニピュレータ / 流体機械 / ヘビ型ロボット / 内視鏡 / 流体駆動 / ヘビ型推進機構 / ヘビ型アクチュエータ / 油空圧駆動 / 連続体蛇行理論 / 工業内視鏡
Outline of Final Research Achievements	This research aims at achieving three dimensional motion of a soft manipulator driven and controlled by fluid. Inspired by snakes capable of progressing solely by bending their body, a kind of endoscopic device that can progress into a complicated narrow space is expected to be realized by the similar mechanism. In this research, a two dimensional hyper-redundant manipulator with curvature derivative control is revised to realize three dimensional motion.