人工筋アクチュエータを用いたパワーアシスト回路(<小特集> インテリジェント・システム)

概要

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In this paper, we report dynamic characteristics of power assist circuits made with artificial muscle. This power assist circuit may be useful for handling human beings in hospitals. Previously, we presented a nonlinear dynamic model which describes the compressibility of air, and volumetric change characteristics of artificial muscle. In this paper, the linear model is derived from the nonlinear model using the linearization technique, and the effectiveness of the linear model is shown. Differences in the characteristics when the power assist circuit is driven by two different types of pneumatic servo valves are recognized. By experiments, servo valve flow rate characteristics are found to be quite important in system dynamics and system stability is improved by using a digital control algorithm. The characteristics of the power assist circuit are analyzed using the linear model. We found the pressure-flow gain for power assist circuits can be calculated by using this model.
一般社団法人日本機械学会の論文
1993-08-25