著者

橋本 将宏 西岡 靖貴 安田 寿彦 山野 光裕

出版者

一般社団法人 日本フルードパワーシステム学会

雑誌

日本フルードパワーシステム学会論文集 (ISSN:18803121)

巻号頁・発行日

vol.51, no.1, pp.1-8, 2019 (Released:2020-06-01)

参考文献数

18

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An extremely lightweight pneumatic soft actuator is an actuator made of non-expansion and contraction material such as the plastic film. It can be driven low pressure and has unique characteristic which are flexibility and lightweight. As for contraction type extremely lightweight pneumatic soft actuator by pleats structure, it has the characteristic that up to approximately 40% shrink axially by opening the pleats of air cell surface at the time of pressurization. The purpose of this study is to clarify relationship between the design parameter, contraction force and the shape of pressurized state. Therefore, we produced the actuator which changed the film ratio (the ratio of the film length of the radial direction for the axial direction) or the magnification of the air cell and measured contraction force for air pressure using a force gauge. In addition, we measured the expansion magnitude of the radial direction at the time of the pressurization. It became clear that there was a positive correlation between contraction force and magnification of the air cell, and a negative correlation between contraction force and the film ratio. As for the expansion magnitude of air cell at the time of the pressurization, it was confirmed that the expansion magnitude was close to the calculated value of the model approximated from the design parameters. Finally, we made the graph that showed relationship between contraction force and cross-sectional area in each pressure.