608 エネルギー回生を応用したマスタースレーブに関する研究

概要

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This paper describes master-slave system using energy resurrection. The proposed system consists of two identical DC-motors and has two main advantages. One is miniaturization of drive sources with energy regeneration and the other is force sensing without force sensors. Problem of this system is rotation velocity gap coursed by energy lost between two motors. Two ways are proposed to be solved this problem. One is energy replenishment system that replacing energy from external source and the other is two different motors system that can increase rotation velocity of slave motor by combining two different coefficients of actuator motors. No external source is necessary for latter. The rotation velocity gap is solved when used concurrently these two systems and switching control using velocity feedback. Therefore, the proposed system has application possibility to the equipment to assist rehabilitation.
一般社団法人日本機械学会の論文
2011-09-05