ロボット用ブレーキの開発 : 第1報,圧電アクチュエータとソレノイドを併用したブレーキの提案(機械要素,潤滑,工作,生産管理など)

概要

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A spot-type multi-disk brake of small size and light weight has been proposed for improving performances of robots by changing their degrees of freedom. This brake is driven by a piezoelectric (PZT) actuator. In order to design the brake which utilizes the large force of PZT actuator, it is necessary to precisely estimate the brake application force. The variation of distance between the jaws of the caliper due to the deformations of the caliper, irregularities of contacting surfaces and warps of disks, pads and PZT actuator has been analyzed, and it has been clarified that it is important to pre-load the contacting surfaces of jaws, PZT actuator, disks and pads to realize a large brake application force. Two methods for pre-loading the contact surfaces have been proposed. One is to pre-load both end surfaces of the PZT actuator by springs, and the other is to pre-load disks and pads by a wedge mechanism previous to the action of the PZT actuator. This wedge mechanism is driven by solenoids. The amounts of these pre-loads have been concretely determined. A prototype brake developed based on the results mentioned above weighs only 1/4 of the electromagnetic brake on the market.
社団法人日本機械学会の論文
2002-09-25