紀要論文

円筒型二重構造ソフトロボットの開発 : NEJIRI : 捻転動作による旋回及び並進運動の実現

DEVELOPMENT OF A DUPLEX CYLINDRICAL FLEXIBLE ROBOT : NEJIRI : REALIZATION OF TURNING AND TRANSLATIONAL MOTION BY USING TWISTING MOTION

jpn

24368083

https://doi.org/10.15002/00025353

法政大学大学院理工学研究科

法政大学大学院紀要. 理工学研究科編

63

1

7

2022-03-24

Version of Record

In this study, we propose a novel twisting mechanism for a cylindrical soft robot to move. The proposed mechanism has a duplex structure comprising a silicone rubber hose and a flexible shaft. Each side of the robot has a geared motor, and the robot shortens and lengthens by rotating each motor. When rotating one motor, the shape of the robot generates a spiral wave, and its length shortens. Then, by rotating the other motor to loosen the spiral, the shape of the robot returns to a natural shape, and the center of gravity moves as well. By simply repeating these motions, locomotive behavior is realized, and the robot moves toward the desired direction. To demonstrate the effectiveness of the proposed mechanism, we developed a prototype. Moreover, to confirm its mobility, experiments were conducted. According to the results, we confirmed that the desired turning and translational motion were realized, and the robot was able to move toward the desired direction on a flat horizontal plane and through a pipe.

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