Power transmission device
A power transmission device 1 includes a variable stiffness unit 41 , which has variable stiffness, receives a torque from a motor A 2 , and transmits the torque to an output unit B, a variable viscosity coefficient unit 42 , which has variable viscosity, receives the torque from the motor A 2 , and transmits the torque to the output unit B, and a controller A 4 which modifies the stiffness of the variable stiffness unit 41 and the viscosity of the variable viscosity coefficient unit 42.
1. A power transmission device which transmits motive power transmitted from a driving element to a driven element, comprising:
a first element having variable stiffness and configured to receive the motive power from the driving element and to transmit the motive power to the driven element;
a second element having variable viscosity and configured to receive the motive power from the driving element and to transmit the motive power to the driven element;
a first modification unit configured to modify the stiffness of the first element;
a second modification unit configured to modify the viscosity of the second element;
a drive source which transmits motive power to the driving element; and
a control unit which controls the drive source and is configured to perform the control to modify the stiffness of the first element and the viscosity of the second element,
wherein the first element and the second element are interposed between the driving element and the driven element,
wherein the power transmission device is configured to be able to switch between a transmission state in which the motive power is transmitted to the driven element and a non-transmission state in which the transmission is disconnected by modifying the stiffness of the first element or the viscosity of the second element, and
wherein the control unit includes:
a first determination unit configured to determine whether the drive source is able to be normally controlled; and
a second determination unit configured to determine whether the transmission state is set, wherein:
the control unit performs a control to achieve the non-transmission state in a case where the determination result of the first determination unit is negative,
the control unit controls the drive source so that a difference between a displacement of the driven element and a displacement of the driving element is equal to or less than a predetermined value in a case where the determination result of the first determination unit is affirmative and the determination result of the second determination unit is negative, and
the control unit controls the motive power transmitted to the driven element in a case where the determination result of the first determination unit is affirmative and the determination result of the second determination unit is affirmative.
2. The power transmission device according to claim 1 , wherein the first element and the second element each includes a conductive polymer actuator and the first modification unit and the second modification unit are each configured as a voltage application unit which applies a voltage to the conductive polymer actuator.
3. The power transmission device according to claim 1 , wherein:
the first element and the second element each include a conductive polymer actuator formed in a tubular shape;
the first modification unit and the second modification unit are each configured as a voltage application unit which applies a voltage to the conductive polymer actuator;
the driven element is at least partially disposed in a hollow portion of the conductive polymer actuator; and
the conductive polymer actuator is configured in such a way that a space of the hollow portion decreases when a voltage is applied from the voltage application unit and that an inner wall surface of the hollow portion comes in contact with the driven element in a case where the applied voltage is equal to or greater than a predetermined voltage.
4. The power transmission device according to claim 1 , wherein:
the first element and the second element each include a conductive polymer actuator formed in a tubular or pillar shape;
the first modification unit and the second modification unit are each configured as a voltage application unit which applies a voltage to the conductive polymer actuator;
a convex portion is provided on an outer wall of the conductive polymer actuator; and
the conductive polymer actuator is configured so as to contract in a longitudinal direction of the conductive polymer actuator when the voltage is applied from the voltage application unit and in such a way that the convex portion comes in contact with the driven element in a case where the applied voltage is equal to or greater than a predetermined voltage.
5. The power transmission device according to claim 1 , wherein:
the first element and the second element each include a conductive polymer actuator formed in a tubular or pillar shape;
the first modification unit and the second modification unit are each configured as a voltage application unit which applies a voltage to the conductive polymer actuator;
the driven element is connected to one end of the conductive polymer actuator; and
the conductive polymer actuator is configured so as to contract in the longitudinal direction of the conductive polymer actuator when a voltage is applied from the voltage application unit and in such a way that the driven element comes in contact with the driving element in a case where the applied voltage is equal to or greater than a predetermined voltage.
6. The power transmission device according to claim 1 , wherein:
the first modification unit includes a first actuator;
the first element is configured as a variable stiffness unit which varies in stiffness in a direction perpendicular to the driving direction by being at least partially pressed in response to driving of the first actuator;
the second modification unit includes a second actuator; and
the second element is configured as a variable viscosity coefficient unit which varies in viscosity in a direction perpendicular to the driving direction by being at least partially pressed by the driving of the second actuator.
7. The power transmission device according to claim 6 , wherein:
the first actuator and the second actuator are piezoelectric elements each formed in a tubular or pillar shape;
the first element is a nonlinear spring;
the second element includes a third element in which a convex portion is provided and a fourth element in which a concave portion along the shape of the convex portion is provided and filled with a viscous liquid;
motive power is transmitted from the driving element to one of the third element and the fourth element;
motive power is transmitted from the other of the third element and the fourth element to the driven element; and
the second element is configured so that driving of the piezoelectric element increases an area in which the convex portion comes in contact with the viscous liquid.
8. A power transmission device which transmits motive power transmitted from a driving element to a driven element, comprising:
a first element having variable stiffness and configured to receive the motive power from the driving element and to transmit the motive power to the driven element;
a second element having variable viscosity and configured to receive the motive power from the driving element and to transmit the motive power to the driven element;
a first modification unit configured to modify the stiffness of the first element; and
a second modification unit configured to modify the viscosity of the second element,
wherein the second modification unit modifies the viscosity according to the stiffness modified by the first modification unit so that damping of vibration of the driven element is predetermined damping.