3P2-K04 Development of Delta robot driven by pneumatic artificial muscles(Parallel Robot/Mechanisms and its Control)

Abstract

In recent years, research of a haptic device that renders human force sense has been accelerating. Conventionally, these devices are driven by motors. However, the actuators have low backdrivability and low stiffness output.In order to improve these problems, we developed a delta-type parallel link robot driven by straight-fiber-type pneumatic artificial muscles. This robot renders human force sense without force sensor. Furthermore, because the artificial muscles are flexibility and not using gears, this robot has backdrivability and no backlash. Thus, by employing a delta mechanism as a haptic device, high stiffness output and low inertia force are realized. In this paper, we indicate the development of the delta robot as the prototype of a haptic device and conduct position and stiffness control experiments. From the experimental results, we confirm that the stiffness of end effector is controllable without the force sensor.