JP5906506B1 - アクチュエータ装置、パワーアシストロボットおよびヒューマノイドロボット - Google Patents
アクチュエータ装置、パワーアシストロボットおよびヒューマノイドロボット Download PDFInfo
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- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A—HUMAN NECESSITIES
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
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- A—HUMAN NECESSITIES
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- A61H3/00—Appliances for aiding patients or disabled persons to walk about
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C1/00—Flexible shafts; Mechanical means for transmitting movement in a flexible sheathing
- F16C1/10—Means for transmitting linear movement in a flexible sheathing, e.g. "Bowden-mechanisms"
- F16C1/12—Arrangements for transmitting movement to or from the flexible member
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/02—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member
- F15B15/06—Mechanical layout characterised by the means for converting the movement of the fluid-actuated element into movement of the finally-operated member for mechanically converting rectilinear movement into non- rectilinear movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/14—Characterised by the construction of the motor unit of the straight-cylinder type
- F15B15/1404—Characterised by the construction of the motor unit of the straight-cylinder type in clusters, e.g. multiple cylinders in one block
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/21—Flaccid drive element
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/22—Fluid motor
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Abstract
Description
駆動力と応答性を両立させるハイブリッド型アクチュエータにおいて、可動部分の慣性を小さくすることが可能なアクチュエータ装置を提供することである。
ストッパと係合部材とが係合状態以外の状態では、駆動力伝達用ケーブルの張力を維持するように張力を付与する付勢手段とを備える、アクチュエータ装置。
[実施の形態1]
図1は、上肢に対する外骨格型ロボットのブロック図の例である。
[1自由度の空電ハイブリッド式アクチュエータ]
以下では、本実施の形態の空電ハイブリッド式アクチュエータの構成と動作を説明するために、1自由度の空電ハイブリッド式アクチュエータを例として説明する。
[実施の形態2]
図7は、実施の形態2の1自由度の空電ハイブリッド式アクチュエータ(PEHA 1−DOF)システムの構成を説明する図である。
その上に、大きな力での動作は、エンコーダと空圧式エアマッスルの間の相当なケーブルの伸張をもたらし、空圧式エアマッスル収縮割合の推定誤差を引き起こす。
また、空圧式エアマッスル収縮力モデルについては、以下の文献に、均衡点における2次オーダー多項式機能として記載されている。
公知文献4:D. Caldwell, A. Razak, and M. Goodwin, ”Braided pneumatic muscle actuators,” in Proceedings of the IFAC Conference on Intelligent Autonomous Vehicles, 1993, pp. 507-512.
さらに、大きな力での動作では、さらに内側のワイヤー拡張および機械的な変形を考慮しなければならない。
以上のような制御系の構成において、実際にプロトタイプの制御を行った実験結果を説明する。
Claims (8)
- 流体圧により駆動されるアクチュエータ装置であって、
一方端が固定され、駆動のために外部から流体袋に流入される前記流体圧の上昇に伴って長手方向に収縮する流体圧人工筋と、
前記流体圧人工筋の他方端から駆動対象物に前記流体圧人工筋の収縮力を伝達するための可撓性の駆動力伝達用ケーブルと、
前記駆動力伝達用ケーブルの所定位置に固定されるストッパと、
前記流体圧人工筋の他方端側に設けられ、前記流体圧人工筋の収縮が所定以上となることに応じて、前記ストッパと係合して前記流体圧人工筋の収縮力を前記駆動力伝達用ケーブルに伝達するための係合部材と、
前記ストッパと前記係合部材とが前記係合状態以外の状態では、前記駆動力伝達用ケーブルの張力を維持するように張力を付与する付勢手段とを備える、アクチュエータ装置。 - 前記流体圧人工筋内部に前記流体圧人工筋の他方端に固定されて設けられ、前記流体圧から内部がシールされたシリンダをさらに備え、
前記係合部材は、前記前記流体圧人工筋の他方端に設けられる前記シリンダの蓋体であって、前記蓋体は、前記駆動力伝達用ケーブルが挿通する貫通孔を有し、
前記ストッパは、前記シリンダ内部で、前記駆動力伝達用ケーブルに固定され、前記貫通孔以上の外径を有して、前記貫通孔と係合可能であり、
前記付勢手段は、前記シリンダの底部と前記ストッパとを結合する弾性部材である、請求項1記載のアクチュエータ装置。 - 前記駆動力伝達用ケーブルは、ボーデンケーブルである、請求項1または2記載のアクチュエータ装置。
- 前記流体圧人工筋の両端は、フレーム構造体内部に固定され、
前記駆動力伝達用ケーブルは、前記フレーム構造体の一端側の貫通孔を介して、前記駆動対象物と結合する、請求項1〜3のいずれか1項に記載のアクチュエータ装置。 - 前記フレーム構造体内部の他方端側の内面と前記流体圧人工筋との間に、前記流体圧人工筋の収縮力を検知するための力センサが設けられる、請求項4記載のアクチュエータ装置。
- 前記駆動対象物は、関節構造体であって、
前記関節の可動部に設けら、前記駆動力伝達用ケーブルにより伝達される前記収縮力による第1のトルクを受けるプーリーと、
前記プーリーに結合し、第2のトルクを前記プーリーに与えるための電動モータとをさらに備える、請求項1〜5に記載のアクチュエータ装置。 - ユーザの筋骨格系運動の支援をするためのパワーアシストロボットであって、
外骨格に対応するフレーム構造と、
前記筋骨格系運動において対象となる前記ユーザの関節にサポート力を与えるように配置される能動関節と、
前記能動関節を駆動するアクチュエータ装置とを備え、
前記アクチュエータ装置は、
一方端が固定され、駆動のために外部から流体袋に流入される前記流体圧の上昇に伴って長手方向に収縮する流体圧人工筋と、
前記流体圧人工筋の他方端から駆動対象物に前記流体圧人工筋の収縮力を伝達するための可撓性の駆動力伝達用ケーブルと、
前記駆動力伝達用ケーブルの所定位置に固定されるストッパと、
前記流体圧人工筋の他方端側に設けられ、前記流体圧人工筋の収縮が所定以上となることに応じて、前記ストッパと係合して前記流体圧人工筋の収縮力を前記駆動力伝達用ケーブルに伝達するための係合部材と、
前記ストッパと前記係合部材とが前記係合状態以外の状態では、前記駆動力伝達用ケーブルの張力を維持するように張力を付与する付勢手段とを含み、
前記能動関節に対するトルク制御により前記能動関節を動作させる制御部をさらに備える、パワーアシストロボット。 - ヒューマノイドロボットであって、
人間の骨格に対応するフレーム構造と、
前記フレーム構造の関節に駆動力を与えるように配置される能動関節と、
前記能動関節を駆動するアクチュエータ装置とを備え、
前記アクチュエータ装置は、
一方端が固定され、駆動のために外部から流体袋に流入される前記流体圧の上昇に伴って長手方向に収縮する流体圧人工筋と、
前記流体圧人工筋の他方端から駆動対象物に前記流体圧人工筋の収縮力を伝達するための可撓性の駆動力伝達用ケーブルと、
前記駆動力伝達用ケーブルの所定位置に固定されるストッパと、
前記流体圧人工筋の他方端側に設けられ、前記流体圧人工筋の収縮が所定以上となることに応じて、前記ストッパと係合して前記流体圧人工筋の収縮力を前記駆動力伝達用ケーブルに伝達するための係合部材と、
前記ストッパと前記係合部材とが前記係合状態以外の状態では、前記駆動力伝達用ケーブルの張力を維持するように張力を付与する付勢手段とを含む、ヒューマノイドロボット。
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