小型空気圧駆動システムのロボットコンテストへの応用

概要

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A drive system of robot must be lightweight and compact in robot contest of national college. We think that it is useful to use pneumatic system as a drive mechanism of the robot. Because a pneumatic system has a large ratio between generated force and weight. A peripheral device that needs to drive preumatic actuator is more compact than hydraulic systems. This paper describe to apply pneumatic drive system for the robot which has limits of size and weight. The robot consists of pneumatic cylinders, compressors, valves and tanks. In order to execute some subject of robot competition, we tested 3 stage pneumatic cylinders which have a long stroke of　1.8 m for lifting robot's body. And, we designed compact peripheral device which can drive tested pneumatic actuator. As the results of develepment and experiments, we can realize the robot which can be driven by lightweight pneumatic system. We could modify the performance of the lifting the robot’s body by using plastic air tank.
2002-01-28