2A1-I10 空気圧アクチュエータを用いた拮抗駆動に関する研究(ワイヤ駆動系の機構と制御)

概要

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Recently, pneumatic servo systems have been applied in several systems, such as pneumatic robot systems, aspherical glass molding machines, and a precise positioning stage to isolate vibration. Because air has a number of advantages, including compressibility, high power ratio, and low heat generation. Antagonistic drive is widely used in pneumatic robots to transform linear motion to rotation. However, the drive system is affected by the friction caused by tension and becomes unstable when the stiffness of the system becomes higher. Therefore, the control method and the configuration of the valves for the drive have still room for study. In this paper, we focus on antagonistic drive system with pneumatic actuators. Arrangement of the servo valves, the control method of the system and the influence of tension to the controllability are studied. Experimental results indicated that tension should be set by the minimum tension T_0. We also confirmed that the responsibility of the system can be improved by using the four servo valves for a single joint.
一般社団法人日本機械学会の論文
2011-05-26