成果報告書詳細
管理番号20160000000588
タイトル*平成27年度中間年報 次世代ロボット中核技術開発 革新的ロボット要素技術分野 高分子人工筋肉アクチュエータによる柔らかな運動支援装具の研究開発
公開日2016/9/7
報告書年度2015 - 2015
委託先名国立大学法人九州大学 国立大学法人名古屋大学
プロジェクト番号P15009
部署名ロボット・AI部
和文要約
英文要約Title: Development of Next Genelation Robotics Core Technology / Innovative Robotics Elemental Technology Field / Research and development of Flexible Human Motion Support Device by using Polymeric Artificial Muscle Actuator (FY2015-FY2016) FY2015 Annual Report

(1) Survey of the materials of Coiled Polymer Actuator (CPA)
As the candidate of polymer artificial muscle actuator for this project, we pay attention to fishing line artificial muscle. Fishing line artificial muscle has been firstly developed by Haines et al. in 2014 [Science, 2014] and is called by Nylon coil actuator, coiled polymer actuator, and so on. In this study, we call such an actuator as Coiled Polymer Actuator (CPA). Under the cooperative research with the advisor, Dr. Kinji Asaka, at AIST, the material investigation is undergoing for improving the performance of CPA.
(2) Characterization, modeling and position control of Coiled Polymer Actuator (CPA)
Two types of CPA have been examined. One is a commercially available conductive nylon thread and the other is commercial nylon fishing line. The free deformation and the blocked force of the CPAs have been characterized. Modeling and position control of the developed single CPA has been studied. The obtained result was presented in the international conference SPIE Smart Structures 2016. The details are as follows.
A CPA was fabricated from commercial Nylon fishing line and Ni-Cr alloy (Nichrome) wire was wound around it. The CPA contracts by the Joule heat generated by applied voltage to the Nichrome wire. For designing the control system, a simple model has been proposed. According to the physical principle of the actuator, two first order transfer functions have been introduced to represent the actuator model. One is a system from the input power to the temperature and the other is a system from the temperature to the deformation. From the system identification result, it has been shown that the dominant dynamics is the system from the input power to the temperature. Using the developed model, position control of the CPA was discussed. Firstly, the static nonlinearity from the voltage to the power is eliminated. Then, a 2-DOF PID controller which includes an inversion-based feed forward controller and a PID controller are designed. In order to demonstrate the proposed controller, experimental verification has been shown.
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