分散形マイクロロボットシステムに関する研究 (第1報, 移動機構用アクチュエータの開発と実験)

Abstract

This paper deals with the concept of the distributed microrobotic system (DMRS) and experimental results of the microelectrostatic actuator. DMRS is what is applied to the dynamically reconfigurable robotic system (DRRS) to the microrobotic system. DRMS is useful for task execution in a space with a small entrance which is too narrow for the entire robotic system to enter. To realize this concept, we propose the Micro-CEBOT (Micro-Cellular Robotics). We show a prototype of the moving cell with the actuator. As the actuator, we used an electrostatic actuator. It is well known that the electrostatic actuator is more advantageous in a smaller size. We propose a structure of the stacked-type electrostatic actuator (STESA) to produce power. Some experiments are performed to examine the behavior and properties of the STESA. © 1992, The Japan Society of Mechanical Engineers. All rights reserved.