建設機械用電子油圧マニピュレータの研究 : PWM油圧パルス流体による重慣性負荷の制御

概要

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We have been developing an electrohydraulically operated manipulator for open-air handing of a medium-heavy load for the past 5 years. Open-air manipulators require both downsizing and integration of control components. The newly designed manipulator consists of three independent units which provide 6 degrees of freedom. Each unit has a 2 degrees of freedom in yaw and pitch motions which are controlled by two servocylinders of 170 mm in stroke and 35 mm in diameter integrated with fully bridged PWM switching valves and position sensors. The three-unit jointed manipulator is 2050 mm tall with a dead mass of 92 kg, and controls an inertia load of 35 kg at a working pressure of 10 MPa with position precision of 3 mm at a maximum tip speed of 1.42 m/s.
一般社団法人日本機械学会の論文
1995-03-25