用于研究超冗余肌肉骨骼系统功能的40气缸张拉整体机械手的研制

IF 0.9 Q4 ROBOTICS

Journal of Robotics and Mechatronics Pub Date : 2023-10-20 DOI:10.20965/jrm.2023.p1366

Yuhei Yoshimitsu, Shuhei Ikemoto

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引用次数: 0

摘要

肌肉骨骼系统具有结构柔软性和驱动冗余性的特点。本研究的目的是使用张拉整体机械臂再现这些特征。所开发的张拉整体机械臂是将由20根支柱组成的1类张拉整体的80根缆绳中的40根替换为气动气缸，使其主动弯曲。本文介绍了机械手的设计细节，并分析了其在各种运动中的特性。我们证实这个机器人平台可以再现肌肉骨骼系统的抽象特征。此外，根据实验结果，讨论了该机器人在控制中必须解决的问题。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of Tensegrity Manipulator Driven by 40 Pneumatic Cylinders for Investigating Functionality in Hyper-Redundant Musculoskeletal Systems

Musculoskeletal systems are characterized by their structural softness and drive redundancy. The objective of this study was to reproduce these features using a tensegrity manipulator. The developed tensegrity manipulator was formed by replacing 40 of the 80 cables of class-1 tensegrity consisting of 20 struts with pneumatic cylinders to allow it to bend actively. This paper presents the design details of the manipulator and an analysis of its characteristics during various motions. We confirmed that this robotic platform could reproduce abstract features of the musculoskeletal system. In addition, we discuss the issues that must be addressed in the control of this robot according to the experimental results.

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来源期刊

Journal of Robotics and Mechatronics ROBOTICS-

CiteScore

2.20

自引率

36.40%

发文量

134

期刊介绍： First published in 1989, the Journal of Robotics and Mechatronics (JRM) has the longest publication history in the world in this field, publishing a total of over 2,000 works exclusively on robotics and mechatronics from the first number. The Journal publishes academic papers, development reports, reviews, letters, notes, and discussions. The JRM is a peer-reviewed journal in fields such as robotics, mechatronics, automation, and system integration. Its editorial board includes wellestablished researchers and engineers in the field from the world over. The scope of the journal includes any and all topics on robotics and mechatronics. As a key technology in robotics and mechatronics, it includes actuator design, motion control, sensor design, sensor fusion, sensor networks, robot vision, audition, mechanism design, robot kinematics and dynamics, mobile robot, path planning, navigation, SLAM, robot hand, manipulator, nano/micro robot, humanoid, service and home robots, universal design, middleware, human-robot interaction, human interface, networked robotics, telerobotics, ubiquitous robot, learning, and intelligence. The scope also includes applications of robotics and automation, and system integrations in the fields of manufacturing, construction, underwater, space, agriculture, sustainability, energy conservation, ecology, rescue, hazardous environments, safety and security, dependability, medical, and welfare.