2P1-A12 複数の空気圧アクチュエータの伸縮制御による棒状物体の3次元位置・角度調節

概要

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We have developed the system for three-dimensional position control of a stick object using pneumatic actuators, which have a possibility to replace electric motors because of high power-weight rate. First we established a feedback control method of the actuator length by driving an electro-pneumatic control valve and installing a six DOF position sensor. Then we have expanded the system to three-dimensional position control and two-dimensional rotation of the object with the precision under 1[mm] and 1[deg], respectively. By introducing PID control method, we have realized step response within 1 [sec]. Also maximum force to push the object in the axis direction was more than 1 [KgF]. We are going to enhance accuracy and response of the system.
一般社団法人日本機械学会の論文
2009-05-25