Development of variable impedance manipulator with PAM and MR Brake
| Project/Area Number |
23760139
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Design engineering/Machine functional elements/Tribology
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| Research Institution | Chuo University |
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Principal Investigator |
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| Project Period (FY) |
2011 – 2013
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| Project Status |
Completed (Fiscal Year 2013)
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| Budget Amount *help |
¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2013: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2012: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Keywords | ソフトマニピュレータ / ソフトロボティクス / ソフトアクチュエータ / アクチュエータ / メカトロニクス / 可変粘弾性 |
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| Research Abstract |
In this study, we developed one-degree-of-freedom manipulator with a variable impedance joint using straight fiber type artificial muscle and magnetorheological brake.
With the generation of instantaneous force, the dead and rise time decreased compared to the conventional method. Further, we controlled the vibration of the arm by controlling the MR brake using evaluation functions
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Report
(4 results)
Research Products
(74 results)
