1A1-B09 磁性ブレーキシリンダの制御とその空圧移動ロボットへの応用(アクチュエータの機構と制御)

概要

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A novel pneumatic cylinder is proposed, named Magnetic Brake Cylinder, abbreviated to MB Cylinder. It is composed of a tank, a cylinder, and a permanent magnet, and with this, the piston is held by the magnet's attractive force until the pressure inside the tank is very high, offering a higher driving power than an ordinary cylinder when using the same pressure source. In addition, a control method of its driving power is introduced. The developed MB Cylinder is then mounted into two types of rescue inspectors: a rolling and jumping rescue robot, which uses a cylinder to jump over obstacles, and a throw and collect rescue inspector, which deploys with the cylinder a child machine over high obstacles. Both developed prototypes showed higher jumping and throwing height than when using an ordinary cylinder, proving to be an option of effective enhancement of traversing ability for pneumatically powered robots.
一般社団法人日本機械学会の論文
2008-06-06