発生力と剛性が同時に制御可能な空気圧式アクチュエータ(「手」及びヒューマン情報処理一般)

概要

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It is difficult in the conventional cylinders to generate the performance of immobilizing the piston at a certain position which is defined as stiffness. The authors investigated and compared with pneumatic artificial rubber muscle, and developed an automatic choke valve where the unidirectional valve is arranged as bypassing so that the air of the high pressure will flow into the air cylinder and the piston can move at high velocity, and where the valve is automatically choked to decrease each flow so that a passive stiffness by spring effect or damping effect of the internal air is obtained. Then, we carried out experiments for evaluation of the system, using a humanoid robot arm with seven degrees of freedom as double acting air cylinder actuators with automatic choke valves and with I-PD control. The experimental results showed that an overshoot was approximately ten percents against the target angle but the joint was controlled with an error under one degree about follow-up to the target angle and with a time constant less than one second, even when five joints were simultaneously controlled under the influence of their respective motions These results indicate that our air cylinder with automatic choke valve is effective to obtain quick motions with high accuracy easily.
社団法人電子情報通信学会の論文
2005-10-13