Flexible Hydraulic Actuator for Space Manipulators

概要

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In a space environment, owing to recent active developments, there is an increasing number of cases in which it is necessary to quickly move and manipulate objects with a large moment of inertia. Therefore, it is desirable to develop more powerful and lightweight actuators. Presently, electric motors are used in this area, however, their capability is not sufficient from the viewpoint of the output torque-inertia ratio. The actuator proposed and developed here for hydraulic control in space is called the flexible hydraulic actuator (FHA). The actuator consists of an oilproof rubber core tube with a cover of braided durable string cords (aramid fibers). With sufficient increase of the internal pressure, the FHA contracts in the axial direction by a maximum of about 30% of the full effective length, and its output force in the axial direction is 1500 N at maximum (3 MPa of internal pressure) and the weight is 0.3 kgf. The main features of the FHA are that it needs no lubrication and has no leakage. The precise mathematical model of the FHA in static and dynamic behavior is derived and compared with experiments. The actuator with loads is investigated experimentally. It is also ascertained that the FHA responds sufficiently quickly.
一般社団法人日本機械学会の論文
1994-03-15