POSITION AND VIBRATION CONTROL OF VARIABLE RHEOLOGICAL JOINTS USING ARTIFICIAL MUSCLES AND MAGNETO-RHEOLOGICAL BRAKE

摘要: In recent times, the chances of robot–human contact have increased; hence, safety is necessitated with regard to such contact. Thus, manipulators using a pneumatic rubber artificial muscle, which lightweight and flexible, are studied. However, this muscle manipulator has faults as slow response limited instantaneous power due operation by air pressure. Because these faults, uncontrollable vibrations can occur, leading instability in arm when an object held lifted. study, one DOF variable rheological joint mechanism MR fluid developed. Vibration control realized lifted, confirming reduction vibration effect.