Research for Control and Processing of Multi-Degree-of Freedom Manipulator Made Out of an Artificial Muscle

人工肌肉多自由度机械臂控制与加工研究

• 批准号: 17560240
• 负责人: NAKABO Yoshihiro
• 金额: $ 1.92万
• 依托单位: National Institute of Advanced Industrial Science and Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2005
• 资助国家: 日本
• 起止时间: 2005 至 2006
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-17560240/
• 关键词: Ionic Polymer Metal Composite; Soft actuator; Electroactive polymer; Distributed parameter system; Euler-Bernoulli beam; Eigenfunction expansion; Micro robot; Impedance model; Ionic Polymer Metal Composite; Soft actuator; Electroactive polymer /

The goal of this research is to develop shape control method and shaping process of the multi-degree-of-freedom manipulations made out of an artificial muscle. We aim to realize formation technology of an artificial muscle and the control of dynamic responses of the manipulator with control algorithm and a control circuit. For this aim, we realize (1) complete control of bending motion of an IPMC and increase forth, strength and stability of the material, and (2) develop dynamic model of the response, apply novel control algorithm and introduce new control drive system, assures the response efficiency improvement of the IPMC bending motion. By the research, high accuracy of position control becomes possible combining with the visual feedback technology which is already developed by our previous research.During the research period, we realized simulation of the bending form of the IPMC using the distributed parameter system model, considered the design of the control circuit, examined the control method and furthermore controlled voltage level, which is the front stage of the actual manipulator system. To miniaturize the control circuit, the phase shifting circuit made of 3 phase have been developed for system modularization. In addition the appraisal which is based on the model and measurement result which uses distribution constant system concerning the electric impedance of IPMC. Furthermore, when using the ion which differs, we find the change of the model concerning the change of electric impedance. Furthermore actual bending form was measured. Effectiveness was verified for parameter identification by comparison with the result of experiments. In order to control bending freely, in the future, as the manipulator, we think research concerning the control method should be constructed based on our latest model.

这项研究的目的是开发形状控制方法和塑造由人造肌肉制成的多重自由度操作的过程。我们旨在实现人造肌肉的形成技术，并控制控制算法和控制电路的操纵器的动态响应。为此，我们意识到（1）完全控制IPMC的弯曲运动并提高材料的强度和稳定性，以及（2）发展响应的动态模型，应用新颖的控制算法并引入新的控制驱动系统，确保IPMC弯曲运动的响应效率提高。通过研究，位置控制的高精度与我们先前研究已经开发的视觉反馈技术相结合。在研究期间，我们使用分布式参数系统模型实现了IPMC弯曲形式的模拟，该模型被认为是控制电路的设计，检查了控制方法，并进一步受控的电压水平，这是实际操纵器系统的前阶段。为了使控制电路微型化，已经为系统模块化开发了由3期制成的相移电路。另外，基于模型和测量结果的评估，该结果使用了有关IPMC电阻抗的分布常数系统。此外，当使用不同的离子时，我们发现模型的变化涉及电阻抗的变化。此外，测量了实际弯曲形式。通过与实验结果进行比较，验证了参数识别的有效性。为了在将来作为操纵器自由控制弯曲，我们认为有关控制方法的研究应基于我们的最新模型来构建。

项目成果

Kinematic Modeling and Visual Sensing of Multi-DOF Robot Manipulator with Patterned Artificial Muscle

• DOI: 10.1109/robot.2005.1570784
• 发表时间: 2005-04
• 期刊: Proceedings of the 2005 IEEE International Conference on Robotics and Automation
• 作者: Y. Nakabo;T. Mukai;K. Asaka

On a distributed parameter model for electrical impedance of ionic polymer

• DOI: 10.1117/12.715554
• 发表时间: 2007-04
• 作者: K. Takagi;Y. Nakabo;Zhiwei Luo;K. Asaka

Biomimetic Soft Robots Using IPMC, Electroactive Polymers for Robotic Applications-Artificial Muscles and Sensors-(Kwang J. Kim and Satoshi Tadokoro Eds.)

使用 IPMC、用于机器人应用的电活性聚合物的仿生软机器人 - 人工肌肉和传感器 -（Kwang J. Kim 和 Satoshi Tadokoro Eds.）

• 发表时间: 2007
• 期刊: (Springer-Verlag)
• 作者: Yoshihiro Nakabo;Toshiharu Mukai;Kinji Asaka
• 通讯作者: Kinji Asaka

Propulsion Model of Snake-like Swimming Artificial Muscle

仿蛇游泳人工肌肉推进模型

• 发表时间: 2005
• 期刊: IEEE Int. Conf. on Robotics and Biomimetics (Robio 2005) Proceedings
• 作者: Y.Nakabo;K.Takagi;T.Mukai;Z.Luo;K.Asaka
• 通讯作者: K.Asaka

自己変形型空中線装置

自变形天线装置

• 发表时间: 2007