有限要素法によるMcKibbem型空気圧ゴム人工筋の発生力特性の解析: 織維コード間の摩擦を考慮しないモデル

摘要

空気圧アクチュエータは，医療?福祉?介護?リハrnビリテーションなどの各分野で，高齢者および身障者rnの自立を助け，介護者の労働を軽減するために人間支rn援型ロボットの実用化に寄与している．人間支援型rnロボットには人間との親和性，すなわち，人間と直接rnあるいは間接的に接触する際の柔軟性や安全性の確保rnが重要である．%In order to establish quantitatively a design method for the McKibben type rubber artificial muscle with the optimal characteristics, analysis of force is performed by means of the three-dimensional finite element method. First, the three-dimensional finite element method model which does not take into consideration friction between plastics fiber codes is proposed as a simple model for acquiring the design manual of the McKibben type rubber artificial muscle. Moreover various parameter study of the McKibben type rubber artificial muscle is carried out, and the characteristics of the McKibben type rubber artificial muscle can be predicted. The proposed analysis can be applied to the useful design method.