[斯坦福大学网络视频课程之机器人学]Instructor (Oussama Khatib):Okay, let’s get started. So today’s movie segment isabout a special actuator. Probably you saw this on the first lecture, but we will see somemore details. So this is a flexible actuator that comes from Toshiba, and this wasdeveloped in the early ’90s. It was presented at 1991 video proceedings.[Video]:This new actuator is made of fiber re-enforced rubber and is driven pneumatically orhydraulically. It has 3 degrees of freedom; pitch, [inaudible], and stretch, which areadequate for robot mechanisms such as fingers, arms or legs.The actuator has three internal chambers, and the pressure in each can be controlledindependently though flexible tubes. The rubber is circularly re-enforced with fiber toreduce deformation in the radial direction.The actuator can be flexed in every direction by controlling the pressure in each chamber.[Inaudible] developed actuators ranging in size from 1 millimeter to 20 millimeters indiameter. This is the formula meter actuator. The design is easily miniaturized because ofits simple structure.This is a modified version. The rubber is reinforced spirally with fiber so that rotationalmovement is possible. We can apply these flexible micro-actuators to miniature robotmanipulators. By connecting them serially, we get an arm with many degrees of freedomand snake like movements.This is a prototype consisting of two actuators and a mini gripper. It has 7 degrees offreedom including the gripper. It can accomplish delicate tasks, which could be handledonly with great difficulty by conventional robots.Constructing miniature robot manipulators is easy because the actuators also act as therobot structure. On the other had, combining the ac...
