2019 Fiscal Year Final Research Report
Development of Bundled Tube Actuators
| Project/Area Number |
17K06253
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo Institute of Technology (2019)
Osaka University (2017-2018) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
小俣 透 東京工業大学, 工学院, 教授 (10262312)
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| Project Period (FY) |
2017-04-01 – 2020-03-31
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| Keywords | ソフトアクチュエータ / 管内移動ロボット |
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| Outline of Final Research Achievements |
In this research, we developed some soft actuators that consist of bundled silicone rubber tubes. The tubes are inflated and deflated periodically by an air pressure to generate waving motion. The in-pipe propulsion device made by helically bundled three tubes was theoretically analyzed its deformation of the body. It can be used to design the parameter of the device so that it can be used in a target pipe to move. Moreover, we developed a control method of 6-braided tubes in-pipe mobile device that can select the progress direction at the branched pipe. A device that has a rod in a cylindrically bundled tubes can drive its rod to the axis and rotational direction. It can drive an endoscope for medical use. Moreover, a plane knitted device can move or carry an object on it to two directions on a plane surface.
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| Free Research Field |
メカトロニクス
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| Academic Significance and Societal Importance of the Research Achievements |
ソフトアクチュエータは軽量で高い柔軟性性を持ち，パワーアシスト装置やリハビリ装置等の人間に働きかける装置への応用が期待される．一方で空気圧を用いたゴムの伸縮を利用するため，繰り返し使用すると壊れやすく，安価で大量生産が可能であることが求められる．本研究では複数本のシリコーンゴムチューブを周期的に配置し，順に加減圧することで駆動するソフトアクチュエータを提案し，管内推進装置，１軸２自由度アクチュエータ，面状２自由度アクチュエータ等を開発した．
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