文章基本信息

标题：Development of Variable Viscoelastic Joint Module Performance Evaluation and Proposal of Application Examples
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作者：Tetsuhito Fujita ; Yusuke Shimoda ; Katsuki Machida 等
期刊名称：Actuators
电子版ISSN：2076-0825
出版年度：2022
卷号：11
期号：3
页码：89
DOI：10.3390/act11030089
语种：English
出版社：MDPI Publishing
摘要：With the diversification of robots, modularization of robots has been attracting attention. In our previous study, we developed a robot that mimics the principle of human joint drive using a straight-fiber-type pneumatic rubber artificial muscle (“artificial muscle”) and a magnetorheological fluid brake (“MR brake”). The variable viscoelastic joints have been modularized. Therefore, this paper evaluates the basic characteristics of the developed Joint Module, characterizes the variable viscoelastic joint, and compares it with existing modules. As basic characteristics, we confirmed that the Joint Module has a variable viscoelastic element by experimentally verifying the joint angle, stiffness, viscosity, and tracking performance of the generated torque to the command value. As a characteristic evaluation, we verified the change in motion and response to external disturbances due to differences in driving methods through simulations and experiments and proved the strength of the variable viscoelastic joint against external disturbances, which is a characteristic of variable viscoelastic joints. Based on the results of the basic characterization and the characterization of the variable viscoelastic drive joint, we discussed what kind of device the Joint Module is suitable to be applied to and clarified the position of the variable viscoelastic joint as an actuator system.