2022 Fiscal Year Final Research Report
Snap Motor: Creating a Small and Lightweight Actuation Platform by Impulse Force Interaction
| Project/Area Number |
20H02106
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | University of Tsukuba |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
山口 友之 筑波大学, システム情報系, 准教授 (50424825)
矢木 啓介 茨城大学, 理工学研究科(工学野), 助教 (90802710)
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| Project Period (FY) |
2020-04-01 – 2023-03-31
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| Keywords | アクチュエータ / 撃力 / ソフトロボティクス |
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| Outline of Final Research Achievements |
We addressed four issues related to the snap motor, which is an actuation technology of soft robotics. First, we developed the simulation technology based on the rod theory, which provides the basis of the design of the snap motor, and established the impulse measurement technology that indicates the impact performance. Second, we showed the possibility of application development of remote rehabilitation diagnosis of human joints using snap motors. Third, we have developed a new pulsation pump, Snap Shell, which efficiently transports fluids by surface deformation realized by the parallel mechanism of snap motors. Forth, we built a hammering inspection drone equipped with a snap motor, conducted an experiment to check concrete defects at the site, and verified its effectiveness.
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| Free Research Field |
ロボティクス
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| Academic Significance and Societal Importance of the Research Achievements |
本研究で発展させた，ロッド理論に基づくシミュレーション技術は，スナップモータ以外のソフトロボティクスにも広く活用できる．この成果は，ソフトロボティクスの世界初標準テキスト「ソフトロボット学入門」で公表済みである．近日中に出版が予定されている英語版のテキストにも掲載予定であり，今後広く普及していくことが期待される．一方，老朽化したトンネルや橋梁などのコンクリート建造物の打音検査に対するロボット活用については，非常に大きなニーズがあり，スナップモータを搭載した打音検査用ドローンには，大きな期待が寄せられている．
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