Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton

Maruyama, Daisuke; Kimura, Hitoshi; Koseki, Michihiko; Inou, Norio

doi:10.1631/jzus.a000030

Cited by 21 publications

(14 citation statements)

References 7 publications

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“…(a) inflated [118] (b) deflated [118] (c) [72] (d) [106] The works of Sanan et al [106], Maruyama et al [83], and Voisemebert et al [135] focus more on service and inspection robotics. Operating pressures are in the range of 0.4 − 0.6 bar.…”

Section: Flexible Fluidic Structural Elementsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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Section: Flexible Fluidic Structural Elementsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…There is a limit for downsizing practical actuators. The present study only suggests criteria for actuator design [15]. Most previous studies on ciliary actuators have adopted stiff ciliary parts, and the driving force is generated by their root parts using a progressive wave [10] [11].…”

Section: Discussion Of the Flexible Fluid Bag Propertiesmentioning

confidence: 99%

Development of flexible ciliary actuators and their application to mobile robots

et al. 2015

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Abstract-The present paper describes new flexible ciliary actuators made of thin urethane rubber, to imitate the hydraulic skeleton found in soft creatures, such as earthworms. Several trial actuators are manufactured while varying the number of fluid chambers from 1 to 3. These actuators are driven by fluid pressure and different methods of posture restoration. A new multiple two-way ciliary actuator sheet with an embedded multi-layered fluid circuit is proposed. A pipe inspection robot of 27 mm in height with ciliary actuator arrays moves at 5.4 mm/s. A new ciliary actuator with a z-shaped body is also discussed.

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“…In our former study, the torque at the bending part of a flexible bag with a rectangular shape was investigated with both nonlinear finite element analysis and experiments [16]. The actuator torque is approximated by the following equation:…”

Section: Driving Force Estimationmentioning

confidence: 99%

“…where is a constant of proportionality, is the inner pressure, is the width of the flexible bag, is the bending angle of the bag, and ( ) is empirical formula, which is a polynomial of degree 5, while is constant for each [16].…”

Section: Driving Force Estimationmentioning

confidence: 99%

Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: Proposal of Dual Structural Actuator

Kimura

Matsuzaki

Kataoka

et al. 2013

IFToMM International Symposium on Robotics and Mechatronics

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An actuator is required to change its speed and force depending on the situation. Using multiple actuators for one driving axis is one of the possible solutions; however, there is an associated problem of output power matching. This study proposes a new active joint mechanism using multiple actuators. Because the actuator is made of a flexible bag, it does not interfere with other actuators when it is depressurized. The proposed joint achieved coordinated motion of multiple actuators. This report also discusses a new actuator which has dual cylindrical structure. The cylinders are composed of flexible bags with different diameters. The joint torque is estimated based on the following factors: empirical formula for the flexible actuator torque, geometric relationship between the joint and the actuator, and the principle of virtual work. The prototype joint mechanism achieves coordinated motion of multiple actuators for one axis. With this motion, small inner actuator contributes high speed motion, whereas large outer actuator generates high torque. The performance of the prototype joint is examined by speed and torque measurements. The joint showed about 30% efficiency at 2.0 Nm load torque under 0.15 MPa air input.

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Driving force and structural strength evaluation of a flexible mechanical system with a hydrostatic skeleton

Cited by 21 publications

References 7 publications

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Development of flexible ciliary actuators and their application to mobile robots

Active Joint Mechanism Driven by Multiple Actuators Made of Flexible Bags: Proposal of Dual Structural Actuator

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