Miniaturized unconstrained valves with pressure control for driving a robot finger
Miniaturized unconstrained valves with pressure control for driving a robot finger
复制标题
用于驱动机器人手指的带压力控制的小型无约束阀门
DOI：
10.1109/robio.2011.6181506
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
S. Hirai
中科院分区：
文献类型：
--
作者：
Masayuki Tatsumi;Kazuhiro Izusawa;S. Hirai
机器人手和步行机器人中的气动执行器正在重新评估。人类大小的机器人特别能够利用McKibben执行器的特性。然而，需要紧凑的控制阀来驱动致动器。微型无约束阀是新型的气动控制阀，其与阀及其驱动电路（PZT驱动器）一起可以驱动致动器。我们开发了适用于人类手指大小的压力控制的小型阀门，PZT驱动器和McKibben执行器。这些机器人手指有一个自由度，可以通过致动器拉伸。通过实验验证了系统的有效性。
Pneumatic actuators in robot hands and walking robots are being re-evaluated. Human sized robots are especially able to make use of the characteristics of McKibben actuators. However, there is a need for compact control valves to drive the actuators. Miniaturized unconstrained valves are novel types of pneumatic control valves that, together with valves and their driver circuits (PZT drivers), may drive actuators. We have developed small valves, PZT drivers and McKibben actuators applicable to pressure control, for human sized fingers. These robot fingers had one degree of freedom and could be stretched by the actuator. Experiments were performed to validate the developed system.