Development and Control Performance of Pneumatic Actuator Driven by Low Pressure
Development and Control Performance of Pneumatic Actuator Driven by Low Pressure
复制标题
低压驱动气动执行器的研制及其控制性能
DOI：
10.1299/kikaic.73.2320
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
M. Shimizu
中科院分区：
文献类型：
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作者：
N. Tsujiuchi;T. Koizumi;S. Nishino;Shigeki Shirai;T. Kudawara;M. Shimizu
最近，与人共存并对他们有帮助的机器人研究已经完成。机器人要与人共存，就必须实现与人一样的柔性运动。为了抓取，要求机器人手精确地控制位置并灵活地处理物体。此外，在照顾作为个人服务典型的老年人和病人时，由于与人接触较多，因此需要安全性和柔韧性。因此，选择合适的材料、机械、驱动系统和控制系统非常重要。然后，我们提出了气动执行器作为机器人手的动力源。但是，为了发电，过去的致动器需要高压缩空气。然后，在本研究中，提出了一种低压和低体积驱动的气动执行器，该执行器最初是为了驱动机器人手而开发的，该机器人手在人接触的假设下工作灵活且更安全。这个驱动器的设计是为了获得足够的力量来驱动低压下的手。由于线性特性，该致动器可以容易地控制。并且，力控制系统，使用该致动器的构造和控制性能，以适用于机器人手进行检查。同时，五指机器人手使用气动执行器，我们表明，机器人手可以做同样的操作，人。
Recently, robot research that coexists with people and is helpful for them has been done. To coexist with people, it is necessary for robots to realize the same flexible motion as people. To grasp, a robot hand is required to control position accurately and treat the object flexibly. Additionally, when taking care of the elderly and patients, who are a typical example of personal service, safety and pliability are required because of much contact with people. Therefore, it is important to choose the proper materials, mechanics, drive systems, and control systems. Then, we propose pneumatic actuators as source of power of robot hand. But, to generate power, a past actuator needs a high compressed air. Then, in this research, a pneumatic actuator driven by low-pressure and low-volume is presented that is originally developed for driving a robot hand that works flexibly and is safer on the assumption of people contact. And this actuator is designed to get enough force to drive the hand in low-pressure. Because of the linear characteristics, this actuator can be easily controlled. And, the force control system that uses this actuator is constructed and the control performance to apply to the robot hand is examined. At the same time, five fingered robot hand using the pneumatic actuators is shown, and we show that the robot hand can do the same operation as man.